Forward Kinematic Analysis of a Pick-and-Place Robot for Industrial Applications

Pick and place robots are used in many industrial applications, i.e. packaging, bin picking and inspection. They are available in different joint configurations, depending upon the nature of the application in which they are used. Some of the configurations of the pick and place robots are revolute-revolute-prismatic, revolute-revolute-revolute-prismatic etc. In pick and place robotic systems, tracking the end-effector's location is as crucial as it is in any robotic mechanism. Ensuring the accurate positioning of the end-effector is vital for the successful transfer of items from one point to another. In the current study, a revolute-prismatic-prismatic pick and place robot is studied. The primary aim of this research is to examine the forward kinematics of the prototype pick and place robotic system. The forward kinematics of the pick and place robot was studied using geometrical method, DH parameter method and ANSYS rigid dynamics tool. The algebraic equations were formulated using the geometrical method. In addition, the homogenous transformation matrix was formulated using DH parameter method. Then, the prototype of the pick and place robot was modeled in design modeler, an ANSYS built in CAD module. The pick and place prototype model was then analyzed using ANSYS rigid dynamics module. Three cases were considered for pick and place robot, with different parameters. The results were then calculated using the three methods, i.e. geometrical, DH parameter, and ANSYS rigid dynamic module. The results of the forward kinematics of the prototype pick and place robot obtained from three methods, are found to be in close agreement with each other.