| CABLE-DRIVEN ROBOTS |
|
|
|
|
|
Comparisons of a TBot high-speed cable-driven parallel robot with a classical Delta parallel robot |
| PENG Fazhong1, DUAN Jinhao1, SHAO Zhufeng1, ZHANG Zhaokun1, WANG Daoming2 |
1. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China |
|
|
|
|
Abstract Parallel robots provide better stiffness, better dynamics and more compact structures than serial robots, so they are widely used in high-speed sorting. The rigid limbs in previous robot designs are replaced with cables to simplify and lighten cable-drive parallel robots (CDPR). This paper describes a high-speed CDPR tensioned by a rigid rod and a spring. The robot can execute the SCARA movement in the same way as the classical Delta parallel robot. Comparisons of these two robots show the key design issues for industrial applications of these robots. Kinematic and dynamic models are used to analyse the robot performance for typical trajectories. The results show that this cable driven robot has a simple structure, low energy consumption, large reachable workspace, and great development potential.
|
| Keywords
high-speed robots
parallel mechanisms
cable-driven
kinematics
dynamics
|
|
Issue Date: 06 March 2021
|
|
|
[1] MERLET J P. Parallel robots[M]. Netherlands:Springer, 2006.
[2] KONG X, GOSSELIN C. Type synthesis of parallel mechanisms[M]. Berlin Heidelberg:Springer, 2007.
[3] BEHI F. Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism[J]. IEEE Journal on Robotics and Automation, 1998, 4(5):561-565.
[4] HUANG T, MEI J P, LI Z X, et al. A method for estimating servomotor parameters of a parallel robot for rapid pick-and-place operations[J]. Journal of Mechanical Design, 2005, 127(4):596-601.
[5] CLAVEL R. DELTA, a fast robot with parallel geometry[C]//Proceedings of 18th International Symposium on Industrial Robots. New York, USA:Springer-Verlag, 1988.
[6] 吴秀平, 梅江平. 基于Diamond机械手的大批量、多类型电池自动分选装备建模于仿真[J]. 机械设计, 2008, 25(7):26-27.WU X P, MEI J P. Modeling and simulation on automatic sorting equipment for large quantity and multi-typed batteries based on Diamond manipulator[J]. Journal of Machine Design, 2008, 25(7):26-27. (in Chinese)
[7] COMPANY O, MARQUET F, PIERROT F. A new high-speed 4-DOF parallel robot synthesis and modeling issues[J]. IEEE Transactions on Robotics and Automation, 2003, 19(3):411-420.
[8] NABAT V, DE LA RODRIGUEZ M, COMPANY O, et al. Part 4:Very high speed parallel robot for pick-and-place[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton, Canada:IEEE, 2005.
[9] XIE F G, LIU X, ZHOU Y H. A parallel robot with scara motions and its kinematic issues[C]//Proceedings of the 3rd IFToMM International Symposium on Robotics and Mechatronics. Singapore, 2013:53-62.
[10] MO J, SHAO Z F, GUAN L W, et al. Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot[J]. Robotics and Computer-Integrated Manufacturing, 2017, 46:48-57.
[11] GOSSELIN C. Cable-driven parallel mechanisms:State of the art and perspectives[J]. Mechanical Engineering Reviews, 2014, 1(1):DSM0004.
[12] BEHZADIPOUR S, KHAJEPOUR A. Time-optimal trajectory planning in cable-based manipulators[J]. IEEE Transactions on Robotics, 2006, 22(3):559-563.
[13] ZHANG Z K, SHAO Z F, WANG L P. Optimization and implementation of a high-speed 3-DOFs translational cable-driven parallel robot[J]. Mechanism and Machine Theory, 2020, 145:103693.
[14] ZHANG Z K, SHAO Z F, WANG L P, et al. Optimal design of a high-speed pick-and-place cable-driven parallel robot[M]//GOSSELIN C, CARDOU P, BRUCKMANN T, et al. Cable-Driven Parallel Robots. Cham:Springer, 2018.
[15] LARIBI M A, ROMDHANE L, ZEGHLOUL S. Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace[J]. Mechanism and Machine Theory, 2007, 42(7):859-870. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
2021,
Vol. 61
