Improvement of parallel robots for handling and assembly tasks

摘要

Purpose - This paper seeks to establish parallel robots with strong performance characteristics in handling and assembly processes. Design/methodology/approach - The presented work introduces concepts and solutions related to the improvement of parallel kinematic mechanisms. Structural design topics and modeling approaches are as well considered as control schemes and new machine components particularly designed for high-dynamic parallel robots. The results have been achieved by a unique interdisciplinary research group linking knowledge from mechanical engineering, electrical engineering and computer science.rnFindings - The paper found numerous individually applicable methods leading to an improved efficiency of parallel robots. Several of the developments have been already implemented and validated by various self-built machine prototypes and a new control system. Originality/value - Owing to higher stiffness, accuracy and improved dynamic behavior parallel robots proved to be an efficient and suitable supplement to serial robots. By means of the various developments contributed in this paper, the promising potential of this class of robots is once more emphasized and further strengthened.