Design And Implementation Of A High-Speed Pick And Place Parallel Robot

Parallel robots have been widely used in the industrial fields because of their high rigidity, high precision, high speed and high load capacity. In the food, pharmaceutical and electronics industries, much work is simple but repeated such as picking, placing, and packing. These jobs could be completed by human, but it seems to be high-cost, low efficiency and easy to be contaminated. The appearance of high speed parallel robot can solve these problems well. In this paper, according the demand for high speed parallel robot, a high-speed pick and place parallel robot was designed, and the related theoretical and experimental research work was conducted.Firstly, the mechanical structure design of the high-speed pick and place parallel robot was introduced, and the close-chain constrain equations of the robot were established based the Geometric relations. The expressions of the inverse kinematic and forward kinematic were obtained through solving the constrain equations. Then the reachable workspace of the robot was obtained on the basis of kinematic analysis considering constrains. After that, the singularity of the robot was analyzed based on its Jacobi matrix.Secondly, the dynamic analysis of the robot was conducted based on Lagrange equation. The Lagrange function of the robot was established after the kinetic energy and potential energy of all moving parts were solved. The dynamic model of the robot was obtained by solve the differential of the Lagrange function respect to the generalized coordinates. Then the numerical simulation of the dynamic analysis was conducted, and the curves of the actuator joint torque under different load and structural parameters was obtained. They had important guiding significance for the design and parameter optimization of the robot.Thirdly, the3D model of the robot was established through Adams, and the kinematic and dynamic simulation was carried out. It verified the accuracy of the theoretical calculation and gave reference for the select of the servo motor. The PID control model was constructed through the SimMechanics module and Simulink module in Matlab, and the control simulation of the robot was conducted. It laid the foundation for the subsequent torque-based control.At last, the design scheme of the control system was introduced, and the experiment was conducted after the program was written. The experiment results proved the feasibility of the design. The robot could operate in high speed and high acceleration, it met the requirements.