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.

Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, 2007.