Selecting a Manipulator for the Task of Sorting Objects in the Continuous Flow: Delta Robot Study

Ivan Krechetov; Arkady Skvortsov; Ivan Poselsky; Pavel Lavrikov; Matvey Klimov; Vladislavs Korotkovs

doi:10.15866/ireme.v11i12.14063

Selecting a Manipulator for the Task of Sorting Objects in the Continuous Flow: Delta Robot Study

Ivan Krechetov^(1*), Arkady Skvortsov⁽²⁾, Ivan Poselsky⁽³⁾, Pavel Lavrikov⁽⁴⁾, Matvey Klimov⁽⁵⁾, Vladislavs Korotkovs⁽⁶⁾

^(*) Corresponding author

Authors' affiliations

DOI: https://doi.org/10.15866/ireme.v11i12.14063

Abstract

This work is aimed at studying the kinematic schemes of robot manipulators in order to determine the optimal solution to use as a universal sorting complex when performing manipulations with objects moving on a conveyor belt. The paper presents a description and an analytical solution of the inverse kinematic problem for the Delta robot. The kinematic and dynamic parameters of the Delta robot have been analyzed. A robotic sorting unit was modeled in V-REP robot simulator. It is shown that, at a given conveyor belt speed of 0.3 m/s for the developed control algorithms, the sorting efficiency is up to 1150 bottles per hour. The results obtained can be used to develop the mechanical design of a robotic sorting unit, as well as to adjust the parameters of the control system.
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Keywords

Cartesian Robot; SCARA; Delta Robot; Direct Kinematic Problem; Inverse Kinematic Problem; Robotic Waste Sorting; Robotics Sorting Unit

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