The Possibilities of Using a Planar Parallel Manipulator with Two End-Effectors for Moving Workpieces

The possibilities of using a planar parallel manipulator with two end-effectors for moving workpieces are considered. Parallel manipulators are known for their high accuracy and rigidity, which makes them ideal for tasks requiring precise positioning and manipulation of objects. The introduction of a second end-effector can significantly increase the productivity and efficiency of the process, providing the ability to simultaneously perform several operations. The study includes the synthesis of the manipulator, modeling its operation for moving light-weight workpieces. Particular attention is paid to the issues of synchronization of the movements of the end-effectors and optimization of their motion trajectories to minimize time costs and energy consumption. The results of the work demonstrate the promise of using such manipulators in automated production systems, especially in operations related to processing and moving workpieces.