A Review of Pick and Place Operation Using Computer Vision and ROS

2021 ◽  
pp. 411-418
Author(s):  
Aditya Mathur ◽  
Chetan Bansal ◽  
Sandeep Chauhan ◽  
Omprakash Yadav
Keyword(s):  
Computer Vision ◽  
Pick And Place ◽  
Pick And Place Operation

Delta Parallel Robot Based on Crank-Slider Mechanism

2017 ◽  
Vol 6 (2) ◽  
pp. 112
Author(s):  
Zhe Qin ◽  
Xiao-Chu Liu ◽  
Zhuan Zhao
Keyword(s):  
Parallel Robot ◽  
Force Transmission ◽  
Practical Application ◽  
Cartesian Space ◽  
Output Torque ◽  
Performance Indexes ◽  
Pick And Place ◽  
Delta Robot ◽  
Three Degree Of Freedom ◽  
Pick And Place Operation

A three-degree-of-freedom Delta parallel manipulator driven by a crank-slider mechanism is proposed. In Cartesian space, a gate-shaped curve is taken as the path of the pick-and-place operation, combining with the inverse kinematics theory of the Delta robot, and a mathematical model of robot statia force transmission is established. The force and the output torque of the robot-driven joint are taken as the main performance indexes, and the value of the crank-slider mechanism applied to Delta robot is further measured. The simulation results show that the delta robot driven by the crank slider mechanism can reduce the force and output torque of the driving joint during the picking and discharging operation, and has good practical application value.

Kinematics and Stiffness Modeling of a 4-DOF Parallel Robot for Schönflies Motion Generation

2014 ◽  
Author(s):  
Shaoping Bai ◽  
Lasse Køgs Andersen ◽  
Carsten Rebbe Mølgaard
Keyword(s):  
Dynamic Performance ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Motion Generation ◽  
Stiffness Modeling ◽  
Pick And Place ◽  
Fea Simulation ◽  
Schönflies Motion ◽  
Pick And Place Operation ◽  
Good Agreement

This work deals with the design of parallel robots for the generation of pick-and-place operation, or Schönflies motion. The aim is to develop a robot with workspace optimized for fast pick-and-place operations, namely, a robot with a superellipsoidal reachable volume, which suits best for the pick-and-place operations on conveyers, where robots’ working areas are nearly rectangular. In this paper, the kinematics and stiffness modeling of the new robot are presented. A method of stiffness modeling by means of Castigliano’s Theorem is developed. Using the new method, the stiffness of the robot is analyzed. The results are compared with FEA simulation, which shows a good agreement between the results. The method is finally applied to the engineering design of the new robot for enhanced static and dynamic performance.

scholarly journals Automation of Pick and Place Operation in Contact Lens Manufacturing

2018 ◽  
Vol 17 (2) ◽  
pp. 25-29
Author(s):  
Norhaliza Abdul Wahab ◽  
Jeevaniswaran Thangaraj
Keyword(s):  
High Precision ◽  
Contact Lens ◽  
Cycle Time ◽  
Contact Lenses ◽  
Development Environment ◽  
Integrated Development ◽  
C Programming ◽  
Pick And Place ◽  
Stepper Motors ◽  
Pick And Place Operation

The paper describes the design of an automation of pick and place operation in contact lens manufacturing. The contact lens pick and place robot is designed so that it replaces operators to pick and place contact lenses from cassette to PS-48 tray automatically. The microcontroller used in this project is Arduino Uno. Solidworks is a software used to create the design before fabrication. Actuators used in this projects are stepper motors due to their high precision in calculating steps to move by the overall system. C programming is used along with Arduino Integrated Development Environment, IDE in programming the movement of the robot.  For this project, the robot is controlled by pressing start and stop button. The automated lens pick and place robot is way better compare to humans since it is capable of reducing cycle time to complete the process by picking 7 lenses simultaneously. Moreover, the lens pick and place robot tend to reduce number of labours and improve the hygiene in contact lenses production. The lens pick and place robot has successfully helped to automate the process in contact lenses manufacturing. The goal of the design have been achieved whereby the robot manage to transfer the lenses from cassette to tray.

scholarly journals Vision Based Machine for Pick-and-Place Operation

2017 ◽  
Author(s):  
Yo-Seop Hwang ◽  
Longtan Wang ◽  
Dong-Hyuk Lee ◽  
Jang-Myung Lee
Keyword(s):  
Pick And Place ◽  
Pick And Place Operation

SOFT FOOD ROBOTIC PICK AND PLACE OPERATION WITH EMBEDDED CONTROL STRUCTURE

2013 ◽  
Vol 37 (3) ◽  
pp. 273-282
Author(s):  
Shiuh-Jer Huang ◽  
Wei-Han Chang ◽  
Janq-Yann Lin
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Sliding Mode ◽  
Low Cost ◽  
Embedded Control ◽  
Model Free ◽  
Pick And Place ◽  
Position Controller ◽  
Soft Objects ◽  
Pick And Place Operation

Robotic pick-and-place operation is planned for handling hard objects with on-off control gripper. It does not have force monitoring capability for safe grasping soft objects. Current force/torque sensor is too expensive and difficult to implement. Here, a low cost embedded control structure is designed with distributed FPGA robotic position control and gripper Arduino force control kernels. A model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each robotic joint and gripper force controller. Experimental results show that the position and force tracking control errors of this robotic system are less than 1 mm and 0.1 N, respectively for pick-and-place different soft foods.

scholarly journals Type synthesis and kinematics analysis of a family of three translational and one rotational pick-and-place parallel mechanisms with high rotational capability

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985307
Author(s):  
Xing Zhang ◽  
Dejun Mu ◽  
Yuze Liu ◽  
Jie Bi ◽  
Hongrui Wang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Hessian Matrix ◽  
Parallel Mechanisms ◽  
Kinematics Analysis ◽  
Type Synthesis ◽  
Lie Group Theory ◽  
Revolute Joints ◽  
Pick And Place ◽  
Pick And Place Operation

This article proposes a family of spatial three translational and one rotational parallel mechanisms (PMs) for pick-and-place operation. Their features are one independent rotation of the mechanism with four identical limbs, which are provided by the four revolute joints on the moving platform. The rotational capability of the PMs has a range of at least 180°. This article focuses on the synthesis of the PMs and kinematics analysis of the 4- P(2-SS)R parallel mechanism. First, based on the Lie group theory, three parallelograms are used in designing the PMs. The limbs are listed and two types of three translational and one rotational PMs are synthesized. Then, a typical 4- P(2-SS)R PM is selected, the 6 × 6 Jacobian matrix and the 6 × 6 × 6 Hessian matrix of the mechanism are derived for solving the displacement, velocity, and acceleration of the mechanism. Finally, singularity configurations are disclosed from the 6 × 6 Jacobian matrix, and the workspace of the mechanism is provided to illustrate the high rotational capability.

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