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

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...

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Veröffentlicht in:	IEEE robotics and automation letters 2022-10, Vol.7 (4), p.9834-9841
Hauptverfasser:	Leveziel, Maxence, Laurent, Guillaume J., Haouas, Wissem, Gauthier, Michael, Dahmouche, Redwan
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Automatic Computer Science Data Structures and Algorithms Engineering Sciences Gear trains Grippers industrial robots Kinematics Mechanism design Parallel degrees of freedom Parallel robots Robots Service robots Sorting Translations
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Beschreibung
Zusammenfassung:	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.
ISSN:	2377-3766 2377-3766
DOI:	10.1109/LRA.2022.3192582