Design and implementation of a field robot using a parallelogram mechanism.

Abstract

To meet various industrial requirements such as ease of motion, scalability, and cost efficiency, it is necessary to innovate the design of robotic platforms. In this research, a novel approach, from mechanical design to control implementation, is introduced for launching a robotic platform using a parallelogram mechanism. First, a reverse engineering process is applied, progressing from kinematics to dynamics. Then, several mechanical computations are conducted to ensure the structural stability of the robot framework. Subsequently, the dynamic performance of the system is analyzed, focusing on the driving torque and moments in each link. Additionally, the electrical design and transfer function of each joint are identified to ensure practical execution. To validate the effectiveness and feasibility of the design, both numerical simulations and experimental tests are performed. Theoretical results show the dynamic response of the proposed method, particularly in terms of the driving moments of the robotic joints. In real-world tests, various trajectories, such as different rectangular paths, are demonstrated to showcase the robot's capabilities. From these results, it is clear that the proposed approach is both feasible and applicable in practical scenarios.