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论文类型： 会议论文

发表时间： 2016-12-15

收录刊物： EI、CPCI-S、Scopus

卷号： 408

页面范围： 389-401

关键字： Delta robot; 6-axis; Pick-and-place; Screw pair; Bevel gear

摘要： 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.