DELTA Parallel Robot Trajectory Planning And Its Sorting Strategy Research On The Production Line

With the rapid development of economy, the labor costs and requirement of safety and efficiency in production are also rising. The pickup system that is high speed, high accuracy, and high load capacity has turned into an integral part in automatic production lines. With the advantage of high rigidity, high bearing capacity, high precision, low weight load ratio, good dynamic performance, and so on, the DELTA parallel robot has great valuable application on sorting industry.According to the application requirements in assembly lines of the production in food and 3C, to meet the target recognition, target selection, fast picking requirement, the automatic pickup system depends on the DELTA parallel robotic is designed in this topic.Firstly, based on the elaboration and analysis of the structure characteristics with the DELTA parallel robot, the mechanism kinematics is modeled. Combine with the theory of space coordinate transformation, the forward and inverse algorithm between the terminal position and the angle of driving arms are deduced, and verify these algorithms with MATLAB. Based on the motion scope of the limb, the solved model of the maximum working space of the terminal position and the parameterize design of the structure are analyzed.To match the different requirements of the terminal trajectory during the application, the planning algorithms for space line, space circular, continuous line, portal type are designed. To improve the continuity of the planning trajectory, they are optimized with the parabola linear transition function. According to different distribution of objects on the conveyor belt, based on the transmission belt objects filter mechanism and respectively, with fixed line waiting, spatial prediction work, multi machine collaboration that three pickup strategy pattern are designed to meet the needs of different sorting application requirements. The pickup production line with DELTA parallel robot and its PC software are developed, and the correlative experiments are completed with that.By the analysis with the process of pickup for DELTA parallel robot, the terminal could finish the motion with the various trajectories, and the target objects are placed and picked accurately. On the other hand, the system can finish the pickup of the target maximum efficiency with the location selection algorithm, which is of reference value for the research in intelligent pickup production lines.