Trajectory Planning And Motion Control Realization Of DELTA Parallel Robot

DELTA parallel robot features high speed,high precision,high rigidity and large load capacity,and therefore can be widely used in the production line of many fields,such as food,medicine and electronic products.In China,with the continuous development of economy,the middle and small-sized enterprises(SMEs)are in great need of low cost and efficient DELTA parallel robots,while the problem of optimal trajectory planning is the key factor to restrict the efficient operation of this kind of robots.Therefore,this thesis analyzes the trajectory planning of lightweight DELTA robots,and verifies the feasibility of the proposed trajectory planning method by constructing prototypes.This thesis first introduces the basic structure of DELTA robot,and makes it simplified.By building a coordinate system and using the geometric relation of DELTA robot,the forward-inverse kinematic expressions of the robot's position are established.Besides,emulation verification is conducted for the established forward-inverse kinematic expressions with MATLAB and ADAMS software,proving the rationality of structure simplification and the correctness of forward-inverse kinematic expressions.Then,the singularities of the robot are analyzed using Jacobian matrix,and thus a reasonable method of avoiding the singularities is proposed.Besides,the inverse kinematics expression is used to analyze and describe its working space,so as to lay the foundation for the design of robot control and its structure size.Furthermore,the trajectory of the robot's end effector is studied,and a trajectory planning method with a short motion period and no motion shock is proposed.And motion simulation is carried out using ADAMS software,the results of which show a continuous acceleration,a smooth velocity curve,and an obvious improvement in vibration and shock compared with the trapezoidal acceleration curve,meeting the actual motion demand.In addition,the optimal time solving is conduced for the trajectory planning curve by genetic algorithm.In the end,this thesis designs and develops the prototype of DELTA robot and conducts relevant experiments.During the development of the prototype,the work performed mainly includes robot body structure design,control system design,and the whole installation and debugging.By writing software program code,the trajectory planning method proposed in this thesis is experimented,proving the feasibility of the trajectory planning algorithm and the practicability of the robot prototype.