Design And Realization Of A Popularization Robot Based On Parallel Mechanism

This paper aims at the increasing demand in the popularization of robot, based onthe main researching findings about imitating Delta robot of specific national No.863project-high-speed packaging robot and its whole set facilities, which is headed byTianjin University, and finally puts forth the proposal on how to realize the parallelconnecting robot as the exhibit in China Science and Technology Museum. The paperalso illustrates the design of robot's machinery and its control system in detail,programs operating instructions and applies all these to practice. The summaries areas follows:Based on imitating Delta robot, the paper puts forth the general designproposal of popular robot, makes a plan of exhibiting function ofpopularization, take the advantage of software Solidworks to set up3-dimentional model of integrated equipment, and finally settle down thescaling parameter, laying the important foundation for the practicalrealization of popular machinery works.Programming grabbing path and grabbing strategy of popular robot andrealizing the moving control of popular robot on the basis of the motion ofmodified trapezoid.On the basis of analyzing the hardware function of control system, wedesign the complete set of electrical diagram, choose the model ofelectrical components and build up the hardware platform to offer supportfor the realization of controlling software functions.Making an analysis of demands in software functions of controlling system,clearing systematic layers of software, planning main program as well as theflow diagram of functional module and using virtual developinginstrument─LabVIEW to design and program controlling system interface.Composing the instruction manual of popular robot, describing operation indetail and make users'operation and maintaining more convenient. Therobot developed thus obtained the successful application in Science andTechnology Museum of China.