Conceptual Design and Analysis of a 6-Axis Double Delta Robot Towards High Acceleration
In this paper,a 6-axis parallel robot for pick-and-place operations is introduced based on the double structures of the Delta robot.Differing from the current 6-axis Delta robot,all the actuators are mounted on a base platform,which can reduce the inertia for high dynamic performance.Besides the 3-axis translation of the Delta robot,this robot’s three rotations of the end-effector are realized by the relative movements of the two sub-platforms in three directions,but without significant structural complexity compared to the existing gearbox of Delta robot.The kinematic problems are studied to reveal that the workspace volume of the robot is similar to the existing design.The simplified dynamic model is established and the simulation results show that the robot can have the 100G acceleration maximally subject to the specifications of the current commercial actuator and gearbox.
Delta robot 6-axis Pick-and-place Screw pair Bevel gear
Guanglei Wu
School of Mechanical Engineering, Dalian University of Technology, Dalian, China;Department of Mechanical and Manufacturing Engineering, Aalborg University,9220 Aalborg, Denmark
国际会议
广州
英文
389-401
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）