Title: Design analysis and dynamic modelling of a high-speed 3T1R parallel robot for pick-and-place application
Authors: Guanglei Wu; Shaoping Bai
Addresses: Department of Mechanical and Manufacturing Engineering, Aalborg University, Aalborg 9220, Denmark ' Department of Mechanical and Manufacturing Engineering, Aalborg University, Aalborg 9220, Denmark
Abstract: This paper introduces a four degree-of-freedom parallel robot producing Schönflies motion, namely, three translations and one rotation around the vertical axis. Differing from the existing four-leg parallel robots, the orientations of the four motors of this robot are not coplanar, which can generate a rectangular workspace that is close to the applicable work envelope and suitable for pick-and-place operations. In the paper, both the kinematic and dynamic models of the novel robot are developed. The kinematics of the robot is studied to analyse the workspace through which the isocontours of the local dexterity over the representative regular workspace is visualised. The simplified dynamics of the robot is modelled and validated.
Keywords: robot dynamics; parallel manipulators; pick-and-place robots; Schönflies motion; robot design; dynamic modelling; high-speed robots; parallel robots; 4DOF robot; robot kinematics; kinematic modelling; robot control; robot motion.
International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.2/3, pp.237 - 248
Received: 10 Aug 2015
Accepted: 08 Feb 2016
Published online: 23 Dec 2016 *