Design, manufacture and validation of a compliant 3 degrees of freedom parallel robot for Pick&Place operations

Abstract

One of the most widespread applications in the field of parallel manipulators is that of pick&place operations. The dynamic advantages of these manipulators compared to traditional robots make them ideal for environments where precision and speed are fundamental requirements. In any case, and despite their advantages, parallel manipulators have not achieved a noticeable representation in collaborative work environments, where their high rigidity and dynamic capabilities are limited by the risk of accident or injury to the worker who shares the workspace. It is for this reason that the development of parallel manipulators with flexible elements is interesting. The lower rigidity of the elements and their capacity for deformation significantly reduce the risk of injury in the event of a malfunction or accident. This article presents a design of a flexible three-degree-of-freedom parallel manipulator. The position problem of the flexible elements is solved by means of the Kirchhoff model. A mechatronic model has been developed that integrates the dynamics of the manipulator, the control system, and the actuators. Finally, a prototype has been built and experimental measurements have been carried out to validate the models developed.