Kinematic Analysis and Optimal Design of a Wall-mounted Four-limb Parallel Schönflies-motion Robot for Pick-and-place Operations

In this paper, a parallel Schönflies-motion robot, with four identical limbs and one single-platform end-effector, is introduced for pick-and-place operations. Compared to the conventional four-limb robot counterparts, this robot can be mounted to a base or hanged on the wall, of which the installation is exempt from the multi-beam mounting frame. The input and output transmission indices corresponding to two pressure angles are defined to evaluate the motion/force transmission quality of the robot and to identify singularity. Kinematic optimal design is conducted to optimize the robot’s geometric parameters, wherein the transmission indices are taken as the performance evaluation criterion. A set of optimal geometric parameters for the robot is identified, which admits a large cuboid translational workspace free-of-singularity with rotational capability ±45∘, suitable for pick-and-place applications.</p

Aplicación de pick and place con robot paralelo Mini Delta integrando visión artificial

Este Trabajo Fin de Master tiene como objetivo el diseño e implementación de una célula robotizada con un sistema de visión artificial para operaciones pick and place. La célula robotizada contiene un robot paralelo tipo Delta (de la empresa Omron), cuya arquitectura de control abierta permite implementar estrategias de control avanzada. Para la programación del robot y sus distintas tareas, se va a utilizar el entorno de programación de Sysmac Studio. La aplicación que se ha implementado con la célula robotizada consiste en formar palabras mediante cubos con letras serigrafiadas en la cara superior. De manera que, el usuario desde una interfaz gráfica selecciona la palabra que desea formar y se utiliza un sistema de visión artificial que detecta donde se encuentra cada una de las letras en cada momento, enviará esos datos codificados al robot, y este cogerá y colocará los cubos, con las letras necesarias para formar la palabra. Para su monitorización y control se ha realizado una interfaz gráfica que permite el control de la palabra que va a formar el robot y de su velocidad, al mismo tiempo que informa del estado de la conexión TCP y de las posiciones de los cubos que va a recoger y depositar en cada plataforma. Este trabajo se ha realizado exclusivamente en la Universidad del País Vasco, concretamente en la Escuela de Ingeniería de Bilbao.The evolution that is taking place in industry during the Fourth Industrial Revolution is leading companies to seek automation and the creation of smart factories. Parallel robots have emerged in this field as a response to applications that need to be carried out with high speed and precision. At the same time, these robots are being equipped with cameras that, together with artificial vision programmes, make these robotic cells intelligent and make decisions based on the environment they perceive. The objective of this Master's Thesis Project is the design and implementation of a robotic cell with an artificial vision system for pick and place operations. This robotic cell contains a parallel robot type Delta (from the company Omron), whose open control architecture allows the implementation of advanced control strategies. For the programming of the robot and its various tasks, the Sysmac Studio programming environment will be used. The application to be implemented with the robot cell consists of forming words by means of cubes with letters screen-printed on the upper face. In this way, the user will use a graphic interface to select the word he/she wishes to form and an artificial vision system will be used to detect where each of the letters is at any given moment, send this coded data to the robot, and the robot will pick up and place the cubes with the letters necessary to form the word. For its monitoring and control, a graphic interface has been created that allows control of the word that the robot is going to form and its speed, at the same time as it reports the status of the TCP connection, the positions of the cubes that it is going to pick up and deposit on each platform. This work has been carried out exclusively at the University of the Basque Country, specifically at at the Faculty of Engineering from Bilbao.Laugarren Industria Iraultzaren barnean, enpresak prozesu desberdinak automatizatzen eta lantegi adimendunak sortzen ari dira. Honetako, robot paraleloak oso egokiak izan daitezkeela ikusi da, zehaztasun eta abiadura handiz lan egiteko ahalmena baitute. Aldi berean, azken urteetan, robot horiei kamerak jartzen hasi dira, ikusmen artifizialean oinarrituz, ingurunearen egoeraren arabera erabakiak hartzeko gaitasuna duten zelula robotizatu adimendunak sortuz. Master Amaierako Lan honen helburua, pick and place operazioetarako, ikusmen artifiziala duen zelula robotizatu bat diseinatzea eta inplementatzea da. Zelula robotizatua, Omron enpresako Delta robot paralelo batean oinarrituta dago. Robot honen kontrol irekiko arkitekturak, kontrol aurreratuko estrategia desberdinak ezartzea ahalbidetzen du. Robota eta haren zereginak programatzeko, Sysmac Studioko programazio- ingurunea erabiliko da. Zelula robotizatua erabiliz inplementatuko den aplikazioa, goiko aldean letra serigrafiatuak dituzten kuboen bidez hitzak osatzean datza. Behin aplikazioa diseinatu eta inplementatuta, erabiltzaileak, interfaze grafikoan osatu nahi duen hitza hautatuko du. Aukeraketa hau egin ondoren, ikusmen artifizialeko sistema bat erabiliko da, letra bakoitza une bakoitzean non dagoen antzemateko. Ikusmen artifizialeko sistemak, datu kodetu horiek robotari bidaliko dizkio, eta honek, behar diren letrak dituzten kuboak mugituko ditu aukeratutako hitza osatuz. Interfaze grafiko bat garatuko da, aplikazioa hau monitorizatu eta kontrolatzeko. Interfaze honek, robotak osatuko duen hitza eta mugimenduen abiadura aukeratzea ahalbidetzeaz gainera, TCP konexioaren egoeraren eta kuboen posizioen berri emango du. Lan hau Euskal Herriko Unibertsitateko Bilboko Ingeniaritza Eskolan burutu da