Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Abstract

This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

Keywords

spatial parallel robot / pick-and-place operations / mobility analysis / kinematic modeling / workspace identification

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant No. 51425501), and by the Beijing Municipal Science & Technology Commission (Grant No. Z171100000817007). The second author wishes to acknowledge the support provided by the Alexander von Humboldt (AvH) Foundation.

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