Design And Analysis Of Parallel Continuum Robot For Pick-and-Place Task

Pick-and-Place robots are generally used to complete the task of picking and placing target objects,which reduces the burden on workers and has many advantages of its own.In the industrial field,the rigid mechanism design of the pickup robot tends to mature,but there are still some defects such as large quality and high risk coefficient when human-robot work together.At the same time,continuum rod as a new design material,because of its own material advantages,has been used in medical,exploration and other fields.Based on this,this paper presents a parallel continuum robot which can be applied to the Pick-and-Place tasks.This paper begins with the type of robot,which is divided into serial robot and parallel robot,rigid robot and continuum robot respectively.Through the research on the development and evolution process of robot structure,the function and industrial performance of Delta robots are analyzed in detail,which provides enlightenment and reference for the parallel mechanism design of this paper.In this paper,on the basis of the existing structural design framework,considering the need of the actual function of the Pick-and-Place robot,the reasonable trajectory planning,the selection of the control system and the drive system,and the design of the grasping system are carried out.Secondly,the existing structural design framework is designed in detail,and the size of the mechanism is determined by mathematical method.Using the simplified Cosserat rod model,the deformation of rod is described from the angle of rigid body motion,and the dynamic model of flexible rod is derived.In Matlab,the parallel elastic rod equation and prototype model are established,and the corresponding mechanism parameters are obtained through the analysis of key materials and working space.Thirdly,the physical prototype model is designed and established,which provides a reference for the manufacture of the prototype machine.Finally,the prototype is tested and its performance is analyzed,and the relationship between input angle,moment and end displacement is studied,and the correctness of the theory and the feasibility of the mechanism design are verified by test.And the whole process from design to construction is summarized,and the direction of future improvement and development is given.