Design of a Three-Degree of Freedom Planar Parallel Mechanism for the Active Dynamic Balancing of Delta Robots Article Swipe

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Christian Mirz , Mathias Hüsing , Yukio Takeda , Burkhard Corves ·

YOU? · · 2024 · Open Access · · DOI: https://doi.org/10.3390/robotics13090129

Delta robots are the most common parallel robots for manipulation tasks. In many industrial applications, they must be operated at reduced speed, or dwell times have to be included in the motion planning, to prevent frame vibrations. As a result, their full potential cannot be realized. Against this background, this publication is concerned with the mechanical design of an active dynamic balancing unit for the reduction of frame vibrations. In the first part of this publication, the main design requirements for an active dynamic balancing mechanism are discussed, followed by a presentation of possible mechanism designs. Subsequently, one the most promising mechanisms is described in detail and its kinematics and dynamics equations are derived. Finally, the dimensions of a prototype mechanism designed to experimentally validate the concept of active dynamic balancing are defined using the example of Suisui Bot, a low-cost Delta robot.

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Artificial Intelligence

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Mechanism (biology) Kinematics Robot Computer science Frame (networking) Vibration Parallel manipulator Reduction (mathematics) Control engineering Simulation Control theory (sociology) Engineering Artificial intelligence Control (management) Mathematics Physics Geometry Classical mechanics Quantum mechanics Telecommunications

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Type: article
Language: en
Landing Page: https://doi.org/10.3390/robotics13090129
PDF: https://www.mdpi.com/2218-6581/13/9/129/pdf?version=1724766332
OA Status: gold
Cited By: 1
References: 23
Related Works: 10
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DOI: https://doi.org/10.3390/robotics13090129

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Title: Design of a Three-Degree of Freedom Planar Parallel Mechanism for the Active Dynamic Balancing of Delta Robots

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Language: en

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Publication year: 2024

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Publication date: 2024-08-27

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Authors: Christian Mirz, Mathias Hüsing, Yukio Takeda, Burkhard Corves

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Landing page: https://doi.org/10.3390/robotics13090129

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Concepts: Mechanism (biology), Kinematics, Robot, Computer science, Frame (networking), Vibration, Parallel manipulator, Reduction (mathematics), Control engineering, Simulation, Control theory (sociology), Engineering, Artificial intelligence, Control (management), Mathematics, Physics, Geometry, Classical mechanics, Quantum mechanics, Telecommunications

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Cited by: 1

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