Structural Compliance Analysis and Experiment of a 4-DoF Parallel Robot
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Start Page
1044
End Page
1049
ISSN
21596247
21596255
ISBN (of the container)
9781479957361
9781467325752
9781424412648
9781424480319
9781467391078
1424412641
9781509020652
9781424428533
0780377591
9798350355369
Date Issued
2024
Author(s)
Abstract
Pick-and-place automation requires robots to have at least three translational (3T) and one rotational (1R) degrees of freedom. Parallel robots usually include four limbs connected to a traveling plate to generate 3T1R motion. For the four limbs to be arranged with rotational symmetry, complicated types of passive joints and traveling plates are required, which make 3T1R robots structurally weaker and prone to wear and clearance issues. This paper presents a new 3T1R parallel robot that uses only revolute joints as the active and passive joints. Compared with other joint types, revolute joints are structurally simpler and stronger. They have an unlimited range of motion and can be preloaded to eliminate clearance. The proposed robot allows the four limbs to be connected with rotational symmetry. Compliance analysis shows that the 4-DoF robot has a homogenous compliance distribution. Experiments are given to verify that the robot can achieve low structural compliance when compared with existing counterparts. The robot is expected to provide an alternative solution in pick-and-place applications.
Event(s)
2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024
Subjects
3t1r Motion
H4-type Traveling Plate
Parallel Robot
Rotational Symmetry
Structural Compliance
Industrial Robots
Microrobots
Robot Applications
Structural Analysis
Structural Dynamics
3t1r Motion
Compliance Analysis
H4-type Traveling Plate
Parallel Robots
Passive Joints
Pick And Place
Revolute Joints
Rotational Symmetries
Structural Compliance
Travelling Plates
Plates (structural Components)
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024. Boston; MA. conference code:202065
Type
conference paper