Automation in Horticulture:

Design and Evaluation of a Cost-Effective Parallel Robot Arm

Master thesis (2023)

Authors

M. Dijkstra Mechanical Engineering

Contributors

G. Smit Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering (mentor)
Jan Koudijzer (mentor)
Faculty
Mechanical Engineering, Mechanical Engineering
Copyright: © 2023 Mathijs Dijkstra
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Published Date

29-11-2023

Language

English

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Faculty

Mechanical Engineering

Abstract

This thesis presents the conceptual development of an innovative parallel manipulator that leverages the beneficial attributes of parallel kinematic structures. These attributes include increased stiffness, uniform load distribution, and reduced moving mass, which are strategically incorporated into the design to enhance resource efficiency. This approach aims to yield more robust, cost-effective, and reliable alternatives to conventional serial manipulators. The concept is synthesized from various literature sources, leading to a detailed kinematic analysis through inverse kinematics. This analysis provides valuable insights into the mechanism's functionality and facilitates iterative design improvements. Additionally, a dynamic behavior simulation of the mechanism is conducted using Simulink's Simscape. Based on these insights, a prototype is constructed to empirically validate the design concept. The final design demonstrates a compact, fully accessible workspace with a kinematic structure conducive to robust manipulation. The load distribution is optimized across all motors, maximizing motor capacity utilization and enabling efficient handling of peak loads.