An Analysis Process to Improve the Mobility of a Parallel Robot for Assembly Tasks

An Analysis Process to Improve the Mobility of a Parallel Robot for Assembly Tasks

Categories Conferences (reviewed)
Year 2015
Authors Borchert, G.; Raatz, A.
Published In 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015 (9 pages)

An analysis tool is presented to design extension
mechanisms that will enhance the motion capability
of delta robots by means of enabling additional, rotational
degrees of freedom. For this purpose, a tool is shown that
is based on a task-oriented decision analysis process for
designing such extension mechanisms. This is necessary,
since assembly processes have significant effects on the required
functionality of the production device. The variety of
drive concepts is just one example that has to be considered
due to specific kinematics and dynamics which result from
additional masses of the power train for each degree of freedom.
To counter these issues, general task-oriented system
requirements are initially defined. Thereafter, available industrial
robots are analyzed to derive deficiencies so that
possible design concepts could be worked out. Based on
these findings, the framework of the implemented decision
process is addressed, that is an analytic hierarchy process,
along with exemplary decision criteria to decide in favor
of a beneficial overall design. The last component includes
the final design process of the extension mechanism where
a sensitivity analysis is used for the optimization of the dynamics.
Finally, possibilities for future developments are
identified to enhance the benefit of the analysis tool. Underlying
mathematical calculations are not subject of this