Robotic devices for pick-and-place operations assisted by vision systems for the feeding of automatic machines with high dynamics

Abstract

In automatic machines for packaging, it is often necessary to perform pick-and-place operations. The high productivity required by the packaging industry leads to the necessity to execute these operations in the shortest possible time bringing to the use of parallel manipulators. On the other hand, the robot’s tasks become more complex every day, with manipulators cooperating with sensors and vision systems making it difficult to use parallel manipulators in some situations. This project aims to design a robot capable of executing complex pick-and-place operations (e.g. 3D picking) with very high dynamics.

Project Goals

This project, in particular, aims at:

• analysing different robot architectures to execute pick-and-place operations with high dynamics, in relation to the necessity of cooperation with sensors and a vision system;
• developing a manipulator with a known or new architecture able to execute the tasks required; it is important to guarantee the industrial feasibility of the robot, taking into account aspects related to mechanical design, materials, and maintenance operations;
• developing algorithms for motion planning and control of the manipulator in real-time, to execute complex operations with high dynamics.

Related Works

The following scientific papers were published upon the results achieved in this project by members of our research group:

• Guagliumi L., Berti A., Monti E., Carricato M., Design Optimization of a 6-DOF Cable-Driven Parallel Robot for Complex Pick-and-Place Tasks, in: ROMANSY 24 – Robot Design, Dynamics and Control. Proceedings of the 24th CISM IFToMM Symposium, Cham, Springer, 2022, pp. 283 – 291, doi: 10.1007/978-3-031-06409-8_30.

In collaboration with: Marchesini Group.

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