Highly Dynamic Motion SystemsCopyright: © IGMR
Synthesis of Mechanisms Considering its Dynamic Behavior
The requirement of high-speed mechanisms in different fields is always increasing. Their dynamic behavior plays an important role in the design process of the mechanisms. This dynamic behavior is traditionally studied in later stages of the design process. If this behavior doesn’t fulfill the given conditions, a new iteration should be done to find the right dimensions of the mechanism. Many undesirable loops can occur in this situation.
To reduce undesirable loops in the design process of mechanisms with the merge of dynamic and structural criteria in the early stage of this process.
- Analysis of the different tasks for the mechanism to synthetize
- Calculation of the forces in the joints
- Setting of structural and dynamic criteria
- Stress on the links
- Deflection of the links
- Resolution of the Minimization-Maximization problem
- Obtention of the mechanism dimensions
Operation of highly dynamic motion devices
Dynamic manipulation tasks demand lightweight, yet stiff robotic systems, with a high-payload-to weight ratio, to achieve both energy efficiency and high positioning accuracy. Given these requirements, parallel robots are the best choice, because of their architecture with a ground-based actuation system and hence, low moving mass. The most widely spread parallel robot designed for manipulation tasks is the Delta robot. Along these lines, our research is concerned with the with the dimensional synthesis and
optimization of Delta robots.
Furthermore, industrial robots performing pick and place operations account for a major part of the energy consumption in packaging and assembling industry. Because of increasing energy prices and the wish for sustainable technologies, methods to reduce the energy consumption of robot manipulators gain in importance. The repetitive character of pick and place operations allows to reduce the energy consumption of the manipulator by adding elastic elements in the joints of the manipulator and utilising the system’s dynamics. To use this method a tailored path planning algorithm and design methods are needed, which are developed at the IGMR.
If you want to learn more about the optimization and dimensional synthesis of Delta robots, please have a look at our PAJAKO project. The research in this area is done in close cooperation with the Tokyo Institute of Technology and is funded by the DAAD.
If you want to know more about the use of system dynamics in pick and place tasks, please have a look at the Good Vibes project.