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2019 | OriginalPaper | Buchkapitel

Parallel Robot Integration and Synchronization in a Waste Sorting System

verfasst von : E. Mokled, G. Chartouni, C. Kassis, R. Rizk

Erschienen in: Mechanism, Machine, Robotics and Mechatronics Sciences

Verlag: Springer International Publishing

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Abstract

This paper presents a delta robot used in a waste sorting system, where its role is to separate plastics and glass from the main waste line. A special detector gives the position and the timing. The trajectory of the picked parts respects the continuity of velocity and acceleration. The pick and place algorithm aims to reach the maximum number of removed items per minute. The inverse kinematics model helps to find the trajectory in the joint space as well as the maximum value of the acceleration. Finally a prototype of the model is presented.

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Vorheriges Kapitel From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Nächstes Kapitel Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms

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Titel: Parallel Robot Integration and Synchronization in a Waste Sorting System
verfasst von: E. Mokled
G. Chartouni
C. Kassis
R. Rizk
Verlag: Springer International Publishing
Buch: Mechanism, Machine, Robotics and Mechatronics Sciences
Print ISBN: 978-3-319-89910-7

Electronic ISBN: 978-3-319-89911-4

Copyright-Jahr: 2019
DOI: https://doi.org/10.1007/978-3-319-89911-4_13

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