Hybrid High-Speed Picker: Introduction of a novel hybrid Kinematic Structure

Industrial robots often perform handling and assembly tasks in industrial applications. This places high demands on dynamics and positioning accuracy. However, when handling low-weight workpieces, a relatively high robot mass usually leads to a limitation of the motion dynamics. The reason is that the manipulator’s gears and drives are often arranged in series, as in the case of SCARA or articulated robots. This results in high moments of inertia for the actuated axes, located at the start of the kinematic chain. The overall stiffness is determined by the weakest element of the structure in that cases. Manipulators with parallel kinematic structures, such as delta robots, can provide a remedy here. However, when using manipulators of this type, problems arise when integrating them into production systems. They have an unfavourable ratio of workspace to installation space. Installation above the process area is mandatory and therefore strongly restricts the arrange- ment of other components in the production system. Hybrid structures, consisting of open and closed kinematic chains, offer alternative solutions. Based on such a hybrid approach, a concept of a novel kinematic structure for high dynamic applications is presented and analysed in this publication.