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Proceedings Paper

Research of two-translation pick-and-place parallel mechanism
Author(s): Ru Yang; Hongzhou Wang; Zhen Jiang
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Paper 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.

Paper Details

Date Published: 16 October 2019
PDF: 6 pages
Proc. SPIE 11205, Seventh International Conference on Optical and Photonic Engineering (icOPEN 2019), 112050B (16 October 2019); doi: 10.1117/12.2541786
Show Author Affiliations
Ru Yang, Shanghai Univ. (China)
Hongzhou Wang, Shanghai Univ. (China)
Zhen Jiang, Shanghai Univ. (China)

Published in SPIE Proceedings Vol. 11205:
Seventh International Conference on Optical and Photonic Engineering (icOPEN 2019)
Anand Asundi; Motoharu Fujigaki; Huimin Xie; Qican Zhang; Song Zhang; Jianguo Zhu; Qian Kemao, Editor(s)

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