The Research On Trajectory Planning Of The Delta Parallel Robot

With the acceleration of the process of population aging in China,the labor force population has been continuously reduced.In recent years,more and more cities and regions in China have been in different degrees of labor shortage.Therefore,the recruitment of workers has increased the labor cost which also increases the pressures and burdens of our social and corporate.So the role of robots in our production and life is more and more important.Delta parallel robot is a fast,high precision industrial robot,mainly used in medical,electronics,food processing and other industries.In order to achieve the function of accurately grasping the requirement of industrial automation production line,trajectory planning research has fatal research significance.Therefore,this paper explores the problem of Delta parallel robot trajectory planning by using the 4-DOF Delta parallel robot,which is based on independent research and development.The experimental platform is used to verify the accuracy of trajectory planning and which helps to guide and apply the robot into practice.Firstly,the structure of Delta parallel robot is analyzed in a simple and thorough way.Three dimensional solid model of Delta parallel robot is established by the Solid Works software and the degree of freedom of Delta parallel robot is analyzed,which provides a theoretical basis for the follow-up study.Secondly,the static analysis of the master arm of the Delta parallel robot is carried out which has a very important reference for the drives and control of the robot.Then,the modal analysis of the Delta parallel robot's master arm is carried out which laid the foundation for the research on dynamics performances.By this step of the master arm research which can help to avoid the resonance phenomenon under external excitation.Thirdly,the rigid body position of the parallel robot is described and the kinematics modeling of the Delta parallel robot is carried out by the simplified model.By the kinematics inverse analysis of the Delta parallel robot derived the expression of inverse kinematics.Kinematics analysis is closely related to kinematics,which is an important part of structure design.At the same time,kinematics analysis is the foundation for the design and dynamics modeling.Fourthly,the basic concept of trajectory planning is described and the trajectory planning method is given in which the circular interpolation of sinusoidal patterntrajectory planning and operation space trajectory planning has been discussed.The trajectory planning task of Delta parallel robot is specific description.Finally,the Delta parallel robot prototype platform is set up and the testing and debugging experiment are carried out,and then to carry out the grasp of round bar material packing simulation.The installation location of the visual device is discussed,which provides some reference value for the industrial application.