A High-speed Parallel Packaging Robot Based On The DELTA Mechanism

Structure of parallel robot, which is at least two independent kinematic chains are connected by a fixed platform and moving platform, its mechanism is a closed loop mechanism driven by the parallel mode with two or more degrees of freedom. The actuator motion of parallel robot is the result of complex precision arithmetic, which is driven by the space bar parallel driving mechanism without a fixed guide rail.DELTA robot is a kind of parallel robot, whose parallel mechanism has less degree of freedom, the robot moving platform is light weight and complete the three-dimensional translation relatively static platform. System based on DELTA structure, completes a kind of mechanical and electrical integration design of three degree of freedom parallel packing robot, realizing the crawl and packing operation to the cheese on the conveyor belt rapidly,thereby reducing the people’s participation, and improving the packaging production efficiency. In this paper, according to the packing process of cheese,from the design of packaging line, the design and analysis of DELTA robot mechanical, position analysis, control system selection, the software system design, debugging and so on, to conduct the research and make the physical prototype, obtaining the better research results.This paper introduces the design of cheese production line project, introducing in detail the design of packing system with DELTA parallel robot as the core, focusing on the algorithm design of control software of DELTA robot control system, Carrying on the following research about the key technologies in the system design:1、According to the cheese packing process, Detailed analysis of cheese packing work requirements, puting forward a set of fast speed, low cost, good flexibility, full functionand design of high system integration, in other words, as the core of the DELTA mechanism of high-speed parallel manipulator, General scheme is aided by opening the box, transmission, sealing, weighing and printing as a whole. 2、Analyzing the structure of DELTA parallel robot, establishing kinematic model by means of the mechanism of forward and inverse. To determine the dynamic position space based correctly solving on location for the moving platform.According to the cheese demand of packing and grasping, to determine the motion route of DELTA moving platform, Thus to determine the position of mechanical parts in operational space.3、According to the demand of control system of DELTA parallel robot,designing the CNC system hardware platform based on "IPC+PCI bus Motion control card", constructing "computer+motion control card+motor driver+AC servomotor+incremental rotary encoder" in the loop control hardware system. To realize signal processing system, production of AC servo motor driving configuration and the whole numerical control system.4、Central processing unit uses Visual Studio2005as the software development platform, adopting C language as control algorithm and the driver program language. The software control system features is modularized design, detailed introducing each module function and mutual calling in module. At the same time, each module function is clearly defined, maximum lifting the system transplantation and scalability. In the path schedule and design, analysing multiple velocity planning algorithm of motion trajectory in detail, designing"traffic light autonomous velocity planning algorithm", simply and efficiently solving the path planning in real-time response speed of processing problems according to the remaining path.5、Based on the above theory, developing a prototype based on DELTA parallel robot mechanisms. Through the system debugging, successfully realizing moving platform accurately grasping, and analysis of the system security, reliability and stability, verifying the feasibility of mechanism analysis and CNC design.