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http://hdl.handle.net/10397/106200
Title: | Kinematic models and the performance level index of a picking-and-placing hybrid robot | Authors: | Zou, Q Zhang, D Huang, GY |
Issue Date: | Oct-2023 | Source: | Machines, Oct. 2023, v. 11, no. 10, 979 | Abstract: | The mobile platform of the parallel robot designed for picking and placing operations is usually equipped with one or two extra degree(s) of freedom to enable flexible grasping orientations. However, additional motors indicate extra loads for the moving platform, and the total payload performance shrinks. This paper proposes a spatial picking-and-placing manipulator, in which one actuator that is supposed to be installed on the mobile platform is placed far away from the mobile platform. The platform has a large workspace along one direction. The comprehensive analytical inverse and forward kinematic solutions of this robot are derived. The reachable workspace of the parallel manipulator module is then explored. The novel performance level index is designed to normalize the performance index and demonstrate the performance rank for any pose. A mathematical proof is provided for this novel index. The manipulability index is taken as an example to examine the level indicator. A multi-objective optimization is implemented to pursue optimal performance; then, the initial design and optimized results are compared in detail. A sample trajectory is provided to verify the correctness of the kinematic mathematical model of the parallel mechanism. | Keywords: | Hybrid robot Kinematic analysis Performance level index Optimum design |
Publisher: | MDPI AG | Journal: | Machines | EISSN: | 2075-1702 | DOI: | 10.3390/machines11100979 | Rights: | © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). The following publication Zou Q, Zhang D, Huang G. Kinematic Models and the Performance Level Index of a Picking-and-Placing Hybrid Robot. Machines. 2023; 11(10):979 is available at https://dx.doi.org/10.3390/machines11100979. |
Appears in Collections: | Journal/Magazine Article |
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