1-DOF-robot for fast and accurate throwing of objects

Abstract

In a research project throwing or shooting is investigated as a new technology for the transportation of objects in production systems. For such an application a 1-DOF-throwing robot with a numerical controlled rotary axis was developed. It can throw objects with masses up to 100 g over distances of more than 10 m. The outstanding feature of the throwing device is, that different angles of throwing and different speeds of throwing can be achieved with only one numerical controlled servo axis. The simple kinematic chain of the robot is also a major reason for achieving a high throwing accuracy. At throwing of tennis balls over a distance of 3 m the accuracy is better than +/- 3 cm. This paper describes the concept, the realization and the test of the throwing robot.