Advanced Delta Parallel Robot With Extended RSUR Kinematic For A Circulating Working Principle

Parallel Robots are manipulators who use closed kinematic loops to create movement at the Tool Center Point(TCP).Due to this kind of kinematic loops,it causes the mechanism to have high stiffness,accuracy,high ratio of load to self-weight and low inertia,even though it has 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 using a Pivoting Working Principle(PWP)for the actuating upper arms,meaning,its design does not make it possible for the upper arm actuators to do a complete revolution.This thesis introduces an extended Revolute-Sphere-Universal-Revolute(RSUR)kinematic which allows a complete revolution of the actuating arms of a Delta Robot which was inspired by the flying wheel.The extended kinematic torque curve of actuators therefore runs more smoothly and thus the payload by same cycle time increase.Two kinematic models,one that has a Pivoting Working Principle and the other with Circulating Working Principle are analyzed and described.For the mechanism with Circulating Working Principle an optimization method for finding optimized design parameters by using the Controlled Random Search(CRS)technique is applied and simulated.An approach for the development of a trajectory planning algorithm and the feasible workspace of a kinematic with Circulating Working Principle(CWP)is presented.The dynamic model of the RSUR kinematic and the Delta Robot are developed and investigated.The reason for developing the dynamic model for the Delta Robot is because one input torque of the RSUR kinematic is equal the torque of the Delta Robot.Several simulation results,such a comparison between a standard Delta Robot and the advanced Delta Robot with extended RSUR kinematic are shown which prove the efficiency of the Circulating Working Principle.Especially readers who study on parallel mechanism particular designed for CWP will get an understanding about the analysis,simulation,benefits and disadvantages about such a manipulator.