Knitting Machine for Pretzels using Parallel Robots

摘要

The aim of the paper is the development of a pretzel knitting machine using two planar parallel manipulators for handling the dough stick ends and a full rotation and vertical translation of the manipulator assembly. The paper presents the kinematic analysis of the actuated chain, in a novel conception, with linear motor. The inverse kinematic approach was resolved for the robot Tool Centre Point (TCP) linear and circular trajectory. The collaborative two robots model, with overlapping workspaces are conceived for kinematic and collision analysis. The whole problem solution was CAD designed, taking into account the collision avoidance and task fulfilment.