An Analysis Process to Improve the Mobility of a Parallel Robot for Assembly Tasks

An analysis tool is presented to design extension mechanisms that will enhance the motion capability of delta robots by means of enabling additional, rotational degrees of freedom. For this purpose, a tool is shown that is based on a task-oriented decision analysis process for designing such extension mechanisms. This is necessary, since assembly processes have significant effects on the required functionality of the production device. The variety of drive concepts is just one example that has to be considered due to specific kinematics and dynamics which result from additional masses of the power train for each degree of freedom. To counter these issues, general task-oriented system requirements are initially defined. Thereafter, available industrial robots are analyzed to derive deficiencies so that possible design concepts could be worked out. Based on these findings, the framework of the implemented decision process is addressed, that is an analytic hierarchy process, along with exemplary decision criteria to decide in favor of a beneficial overall design. The last component includes the final design process of the extension mechanism where a sensitivity analysis is used for the optimization of the dynamics. Finally, possibilities for future developments are identified to enhance the benefit of the analysis tool. Underlying mathematical calculations are not subject of this