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Kinematic and dynamic analysis of a dexterous multi-fingered delta robot for object catching

Published online by Cambridge University Press:  03 February 2022

Sachin Kansal Open the ORCID record for Sachin Kansal [Opens in a new window]  and
Sudipto Mukherjee
Sachin Kansal*
Affiliation:
Computer Science Engineering Department, Thapar Institute of Engineering Technology, Patiala, Punjab, India
Sudipto Mukherjee
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Delhi, New Delhi, India
*
*Corresponding author. E-mail: sachin.kansal@thapar.edu
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Summary

This paper presents a new combined 9-DOF [3R-3R-3R] parallel architecture to perform the object catching in the real-time scenario. The architecture design is intended to carry heavy payload objects for the catching. This paper covers modelling the new architecture, kinematics, and dynamic analyses to compute torques/forces at the actuators. The simulation of kinematic and dynamic analysis in MATLAB. Vision sensors, encoders, PID controller, and current limiting are used to perform object catching. The architecture is the only delta robot application designed to catch regular-shaped objects in real-time scenarios.

Keywords

Delta robotcatchingRGB sensorRecurdynTMPID controllermulti-fingeredkinematicsdynamics

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Type
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Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2878 - 2908
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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