Parallel robot design incorporating a direct end effector sensing system.
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Date
2007
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Abstract
This dissertation details the development of a parallel robot with an integrated direct end
effector sensing system, from concept to prototype model and includes details of research,
design, simulation, construction, assembly and testing.
Current research in parallel robots is insufficient as compared to serial type machines, even
though their existence has been known for some time. The reasons are the difficulty in
conceptualising unique parallel mechanisms, achieving machines that are capable of high
accuracy, solving their complex kinematics, dynamics and control problems. There are many
advantages of parallel machines that rival the serial type, and these warrant further studies.
The second aspect of this project was the design of a direct end effector sensor system. Many
existing automated multi-axis machines operate under overall 'open loop' control. The exact
position in space of the end effector or tool head, for those machines, is not sensed directly
but is calculated by software monitoring sensors on actuator axes.
This sensor system and robot structure was designed specifically for use in the agricultural
and general food processing/packaging industries. The accuracy and repeatability of such a
machine and its sensor system are in the millimetre range.
Description
Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, 2007.
Keywords
Robotics., Theses--Mechanical engineering.