Key Technology Research Of A 3-Dof Purely Translational Parallel Manipulator

Parallel manipulators have the nice features of compact structure, high stiffness, high speed, high positioning accuracy and high load, which made them receive extensive attention in the fields that need high speed and accuracy. With more than one kinematic chains and closed loop structure, the kinematic parameters of the parallel manipulator can not be obtained with normal measure techniques. At the same time, the trajectory planning is more complex than series manipulators. To take the parallel manipulator in application, the two problems must be solved well.In this thesis, the Delta parallel manipulator with three purely translational degrees of freedom is applied to design the robot used for food packaging,the control system design and the two problems above-mentioned are mainly discussed. Based on the analysis of the Delta type parallel manipulator, we construct the kinematics and dynamics model, and make a brief discussion in the singularities of the mechanism. Considering the performance demands of the prototype, design its control system and soft ware. Assembly the Prototype and complete the debugging. Make an overview of the computer vision, using the camera calibration method to accomplish the kinematic calibration of the parallel manipulator. Analysis the common methods of trajectory planning used in industry robot, simulate them in the computer and do experiments on the prototype, compare the methods and decide which is fit for the prototype to perform the pick-and-place operation.After design and debugging of the control system, the robot prototype can run normally. It can accomplish auto pick-and-place operation under the control of routines stored in the computer, as the period objective of the project required.