Design and implementation of a field robot using a parallelogram mechanism.

Area of Science:

• Robotics
• Mechanical Engineering
• Control Systems

Background:

• Industrial robotics demand innovative designs for enhanced motion, scalability, and cost-efficiency.
• Existing robotic platforms often face limitations in meeting diverse industrial requirements.
• Advancements in robotic platform design are crucial for expanding automation capabilities.

Purpose of the Study:

• To introduce a novel robotic platform design utilizing a parallelogram mechanism.
• To detail the mechanical design, control implementation, and validation of the proposed robotic platform.
• To address industrial requirements for ease of motion, scalability, and cost efficiency in robotic systems.

Main Methods:

• A reverse engineering process was applied, progressing from kinematics to dynamics.
• Mechanical computations were performed to ensure structural stability.
• Dynamic performance analysis focused on driving torque and moments; electrical design and transfer functions were identified.
• Numerical simulations and experimental tests were conducted for validation.

Main Results:

• Theoretical results demonstrated the dynamic response, particularly driving moments of robotic joints.
• Experimental tests showcased the robot's capabilities through various trajectories, including rectangular paths.
• The proposed robotic platform design proved feasible and applicable in practical scenarios.

Conclusions:

• The novel parallelogram-based robotic platform design is effective and practical for industrial applications.
• The integrated approach from mechanical design to control implementation ensures robust performance.
• This research contributes a viable solution for enhancing robotic platform capabilities in industry.