Performance Analysis of a High-Speed Redundant Robot

The paper analyses the potential dynamic performance of a novel redundant SCARA robot, developed at the stage of functional design, with respect to the conventional model of the same manufacturer. It is shown that the introduction of a further revolute joint leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. The static and dynamic manipulability of both the conventional and the redundant robot are investigated and typical pick and place tasks are simulated to compare the arising cycle times.

[1]  Charles Pinto,et al.  A symmetric parallel Schönflies-motion manipulator for pick-and-place operations , 2011, Robotica.

[2]  Xin-Jun Liu,et al.  Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform , 2015 .

[3]  François Pierrot,et al.  A new high-speed 4-DOF parallel robot synthesis and modeling issues , 2003, IEEE Trans. Robotics Autom..

[4]  Ferdinando Cannella,et al.  Dynamic models for the re-engineering of a high-speed Cartesian robot , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[5]  Marco Carricato.  Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion , 2005, Int. J. Robotics Res..

[6]  Massimo Callegari,et al.  Optimal Motion Planning for Fast Pointing Tasks With Spherical Parallel Manipulators , 2018, IEEE Robotics and Automation Letters.

[7]  Andreas Müller,et al.  Inverse kinematics in minimum-time trajectory planning for kinematically redundant manipulators , 2016, IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society.

[8]  Zexiang Li,et al.  Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators , 2013, IEEE Transactions on Automation Science and Engineering.

[9]  D. Caldwell,et al.  Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity , 2008 .

[10]  Jorge Angeles,et al.  Multiobjective Optimum Design of a Symmetric Parallel Schönflies-Motion Generator , 2009 .

[11]  Sébastien Krut,et al.  Par4: very high speed parallel robot for pick-and-place , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Philippe Poignet,et al.  Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry , 2009, IEEE Transactions on Robotics.

[13]  Songtao Liu,et al.  Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints , 2012 .

[14]  R. Clavel.  Conception d'un robot parallèle rapide à 4 degrés de liberté , 1991 .

[15]  Alexandr Klimchik,et al.  Comparison Study of Industrial Robots for High-Speed Machining , 2017 .