Design and Analysis of a Parallel Link Manipulator for Heavy Lifting in Warehouses

摘要

This paper is intended to put forth a new approach to robot design that is centered around Parallel Link Manipulator. Parallel Link Manipulator is a challenging but equally rewarding field of research. It can prove to be the remedy for the long-standing problem of low Lifting Weight to Robot Weight Ratio'. The very large size of actuators inserial link manipulators for heavy lifting is also a problem. Very heavy construction is required for heavy lifting purposes. In this paper we propose a new parallel link manipulator design to work as normal operating robot in warehouse and factories. We also present its forward and inverse kinematics with static structural analysis for testing the maximum safe lifting capacity of the robot. The main advantage of the proposed design is its great maximum lifting capacity to body weight ratio with ease in manipulability.