Advanced Parallel Robot with Extended RSUR Kinematic for a Circulating Working Principle

Abstract

Parallel robots are manipulators who use closed kinematic loops to create a movement at the Tool Center Point (TCP). Due to this kind of kinematic loops, it causes the mechanism to have high stiffness, high ratio of load to self-weight and low inertia, even though it will have good repeatability and high dynamics. A very well-known example of a parallel manipulator is the Delta Robot which is commonly used in the pick and place industry. Delta Robots are known to normally use a pivoting working principle for the actuating upper arms, meaning, its design does not make it possible for the upper arm actuators to make a complete revolution. This paper introduces a new type of an advanced Delta Robot with extended RSUR kinematic which allows a complete revolution of the actuators what will lead to the advantages of storing rotational energy in cycles comparatively like a flywheel what is a machine element that stores rotational energy. The extended kinematic torque curve of actuators therefore runs more smoothly and thus the payload by same cycle time increases. The following work will introduce the kinematic model description of such an advanced Delta Robot that is working with a circulating working principle, and discuss several simulation results of such a kinematic to prove the efficiency of the circulating working principle. Furthermore, a comparison with a real Delta Robot hardware and the advanced Delta Robot simulation model is introduced.