The Design And Implemention Of A Delta Parallel Robot

As China's demographic dividend getting low,labor costs increased year by year,increasingly severe labor shortage,labor-intensive manufacturing industries need to upgrade,for which China issued the "Made in China 2025" Programme of Action in2015,to develop robot technology.Pearl crown as robot manufacturing measure an important indicator of a country's scientific and technological innovation and highend manufacturing level.This paper studied the Delta parallel robot widely used in food,pharmaceutical and other industries,to replace the manual production line packaging,sorting,transport and other links.This article first Delta robot kinematics model is analyzed to establish a model for forward kinematics and the inverse kinematics model using geometric vector theory and analysis of multiple solutions for the organization's situation.Then the kinematic model derivation analysis,the space velocity of the robot model,namely institutions Jacoby matrix.Jacob compare matrix analysis,the singularity of several bit-shaped bodies,provide a reference for subsequent structural parameters design agency.For Delta robot applications in high-speed motion characteristics were studied for high-speed crawl-placing special operations Delta robot path planning algorithm,which uses space elliptical trajectory modeling principle,simply determine the starting point,destination,and can automatically generate a target height trajectory.At the same time the start and end of the track segment improved Sin motion planning,such that movement into acceleration-constant speed-deceleration phase,smoother motion,reducing the impact on the motor torque.Kinetic model is the basis for robot simulation and control,it uses the principle of virtual work for Delta robot dynamics modeling to obtain a kinetic standard model.Then,based on this model was designed based on the calculation of the torque PD controller,using Sim Mechanics toolbox in Simulink effectively verify the effectiveness of the controller.But also on the 120 cycles per minute crawl experimental simulation analysis,the joint torque curve chart,provide a theoretical reference for the subsequent selection of servo motor and reducer.Finally,set up the Delta robot experimental system,introduced hardware design options and the selection of key components,the design of the system software and the preparation of key algorithm module robot,and the robot's speed and accuracy were tested,the results show system Avenue expectations.