Research On Trajectory Planning And Sorting Strategy Of DELTA Parallel Robot

With the fast development of economy and society,the main mode of production which is solely dependent on human labor cannot meet the demands of industrial production today,replacing human work with a flourishing robot is the way to solve the problem.Robots can not only liberate human beings from heavy and tedious physical labor,but robots can greatly increase production efficiency compared with human labor.For DELTA industrial robot series parallel robot with strong bearing capacity,high precision,high speed,compact structure and a series of advantages,which is widely used in product sorting and other related industries.Based on the actual demand of a company's food production line in Sishui County,Shandong Province.The thesis design a set of DELTA as the carrier of the parallel robot has many planning path and fetching strategy in the biscuits automatic sorting system.Firstly,based on the sorting process of the actual biscuit production line,the thesis analyzes the mechanical structure characteristics of DELTA parallel robots and makes a simplified model according to its structure.What's more,the position inverse solution and the forward solution algorithm are analyzed.Taking into account the factors that affect the robot's end grip,the speed and acceleration of the end mechanism are analyzed during the movement of the robot.At the same time,the limitations of its working space are analyzed and simulated by the Monte Carlo method.Then,this thesis analyses the terminal singularities' conditions of DELTA parallel robots using the characteristics of singularity in robots,which lays the foundation for the avoidance of the singularity in the terminal trajectory planning.Later on,according to the requirements of the smoothness of the end-to-end tracking trajectory,the planning methods for the modified trapezoidal mode of the sine function and the parabolic function are studied respectively,which makes the trajectory smoothness is improved and the desired requirements.Based on the characteristics of the distribution of target products on the production line,combined with the methods of conveyor belt speed control and target position prediction,the PID based object capture mode and multi-machine cooperative operation mode are studied,and a practical method is found to improve the working efficiency of the robot.Finally,using the hardware module based on the communication principle,an experimental platform based on DELTA parallel robot is built,which verifies the feasibility and effectiveness of the previously designed trajectory planning algorithm and the terminal grabbing strategy.The research results of the thesis have very important practical significance to enrich and develop robot motion control technology and promoting the engineering application of parallel robots.