Optimization of Industrial Manipulation Tasks Using Parallel Manipulators

Abstract

Small-scale product handling industries are at the cusp of increasing their efficiency and effectiveness, where optimization is a considerable factor. Though regular pick and place tasks are nonvalue added steps, it can replace expensive manual labour by increasing efficiency. Hence, this paper discusses the optimization of regular pick and place tasks using parallel manipulators. Out of the evaluations, on alternative manipulators, the 3-link parallel manipulator was of the focus. A simulation and a real-time operation were conducted for the comparison of the two designs in relation to robot workspace. The robot kinematics were derived to define the robot workspace, and for the dimensions of the mechanical components which were equally designed and tested using SOLIDWORKS. Fabricating was done using lathe machining and 3D-printing. The servo and visual systems were decided accordingly for the pick and place application. Control and functionality with the input visual system and kinematics model were mapped and generated in MATLAB, and then transferred to Arduino which drives the motors of the manipulator. This makes the robot end effector to actuate and perform the picking and placing using the solenoid gripper. An accurate result in object detection, mapping, picking, and placing by the delta robot is thereby achieved. The presented model is feasible to be used in the industry which can accommodate regular pick and place tasks in a facility.