A 4-DoF Parallel Robot With a Built-in Gripper for Waste Sorting

被引：19

作者：

Leveziel, Maxence ^{[1
]}

Laurent, Guillaume J. ^{[1
]}

Haouas, Wissem ^{[1
]}

Gauthier, Michael ^{[1
]}

Dahmouche, Redwan ^{[1
]}

机构：

[1] Univ Bourgogne Franche Comte, CNRS UFC ENSMM, FEMTO ST Inst, F-25000 Besancon, France

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 04期

关键词：

Mechanism design; parallel robots; industrial robots; DESIGN; MANIPULATOR;

D O I：

10.1109/LRA.2022.3192582

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article presents a new robot concept dedicated to fast and energy-efficient waste sorting applications. This parallel robot can provide at the same time the three translations in space (3-DoF) and the opening/closing of a built-in gripper (1 additional DoF). The movement of the clamp is enabled thanks to a configurable platform at the end of the parallel structure. This platform is composed of a two-gear train gripper which is directly controlled by the 4 actuators attached to the base of the manipulator. The inverse kinematic as well as the differential models have been developed. A first prototype has been realized to validate this new parallel architecture for pick-and-toss tasks.

引用

页码：9834 / 9841

页数：8

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