Research of two-translation pick-and-place parallel mechanism

Ru Yang; Hongzhou Wang; Zhen Jiang

doi:10.1117/12.2541786

16 October 2019 Research of two-translation pick-and-place parallel mechanism

Ru Yang, Hongzhou Wang, Zhen Jiang

Proceedings Volume 11205, Seventh International Conference on Optical and Photonic Engineering (icOPEN 2019); 112050B (2019) https://doi.org/10.1117/12.2541786
Event: Seventh International Conference on Optical and Photonic Engineering (icOPEN 2019), 2019, Phuket, Thailand

Abstract

The lower mobility parallel mechanisms with the actuators mounted on the frame are suitable for picking and placing objects at high speed. The core design concept of the lower mobility pick-and-place parallel mechanisms, such as Delta mechanism, is that all kinematic limbs include parallelogram closed-loop sub-chain which can ensures the end effector to complete translation. For the occasions of carrying and grasping items in the plane where only two-dimensional translation is required, the use of the above mechanisms will cause a waste of utility functions and manufacturing costs. Under the premise of not changing the special geometry of parallelogram, a novel type of two-translation parallel mechanism based on a set of synchronous telescopic parallel links is proposed, which effectively reduce the size of the mechanism itself and increase the working range in the vertical direction. The mechanism can complete the grasping of objects scattered on the belt on the basis of visual guidance. Through the screw theory, the kinematic screw equation of the mechanism is established, and the analysis of mobility is implemented. In addition, kinematic studies are carried out on the two-translation parallel mechanism. Furthermore, the singularity is analyzed and workspace is calculated which are helpful in optimizing the mechanism.

Citation Download Citation

Ru Yang, Hongzhou Wang, and Zhen Jiang "Research of two-translation pick-and-place parallel mechanism", Proc. SPIE 11205, Seventh International Conference on Optical and Photonic Engineering (icOPEN 2019), 112050B (16 October 2019); https://doi.org/10.1117/12.2541786

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available