Publication: Improved automated tool change mechanism of modular gripper for delta-robot
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Date
2024-08
Authors
Muhammad Aiman Hakimi bin Mohamad Azahari
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Abstract
The parallel Delta robot is an essential technology in the field of industrial automation especially in the transformative landscape of Industry 4.0. These robots
are built with three or more arms attached to a common base enables them to do delicate tasks with unparalleled accuracy and making them optimal for industries requiring the highest levels of precision, such as electronics assembly and food and beverage processing. To increase the ability of delta robot to execute various tasks, an automated tool changer is created that capable changing the gripper of robot. The Delta robot confronts a significant challenge due to the constraint imposed by its workspace, primarily stemming from the co-location of the gripper exchange station and the pick and-place operations. This constraint impedes the robot's capability to efficiently pick up objects from one position and accurately deposit them in a different location. For that reason, this project aims to improve the workspace area of the delta robot for effective pick-n-place operation. Furthermore, sliding tray for modular gripper changer station is presented to make it easier to switch grippers and increase the Delta robot's workspace for better pick-and-place tasks. Normally, it sits at the edge of the Workspace. But when the robot needs a different gripper, the tray moves to the middle of the workspace using a pulley system driven by a stepper motor. Experiments showed that increasing the stepper motor speed up to 300 RPM significantly reduced the time taken for the gripper changer station to move between points A and B and return B to A. This inverse relationship is crucial for optimizing the operational efficiency of the Delta robot, highlighting the importance of selecting appropriate motor speeds to achieve desired performance outcomes.