A new method for combining handling systems with passive orientation devices

The development of flexible and cost-saving handling systems is within the scope of ongoing research. In the present work, a parallel robot is extended with a passive orientation device to enhance its mobility. Additional actuators, which are usually used for active orientation, are deliberately excluded to reduce costs and weight. Passive motions are thus caused by accelerations of the parallel robot in conjunction with the inertia coupling between both structures. This contribution presents methods to connect the control of the orientation device with the overlaid handling task. Validation of the process is done in simulation and experimentally.