Resonant Delta Robot for Pick-and-Place Operations

The use of constant-stiffness elastic elements in parallel with the motors may significantly reduce the energy consumption of Delta robots performing pick-and-place tasks. The springs and the trajectory can be designed to balance the required torque for the motion of the robot’s inertia, thus exploiting the natural dynamics of the system. In this paper we present a method for finding the appropriate spring parameters and the optimal trajectory. A comparison of the simulated energy consumption on the system with springs and the system without springs is also introduced. For the system without springs, both typical and energy-efficient trajectories were simulated.

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