The Research Of The Delta Parallel Manipulator Control System Based On Real-time Ethernet

Delta parallel manipulator is the most successful and representative parallel mechanism in the world, whose end effector can obtain high velocity and acceleration, it can do sorting, packaging, assembly work in production line, which has broad application prospect in food, pharmaceutical, electronics fields. However, the current delta parallel manipulator researched and developed in china has large gap compared with abroad. Control system is the key and core to improve manipulator properties, therefore research and development of the delta parallel manipulator control system with independent intellectual property rights is of great significance.First, mathematical modeling is analysed and inverse and forward kinematics solution is obtained. On account of motion process of Delta robot in real application,"Men" type trajectory planning is planned and organized systemically. Make systematic research of classic S curve acceleration and deceleration motion control method, based on it, a improved modified trapezoidal curve with better acceleration and deceleration is proposed to eliminate vibration and shock in high speed motion of Delta parallel manipulator. Based on trajectory planning above, combined with the specific motion trajectory, using virtual prototype technology, the dynamic simulation of Delta parallel manipulator is realized by software Proe/Mechanism and ADAMS to obtain the kinematic parameters of driving axes, a new method of serve motor accurate selection is proposed and the virtual prototype established also provides a kinematic analysis and control platform for the research of Delta parallel manipulator.Secondly, to overcome the limitation of the closed traditional industrial robot control system structure, using real-time synchronous motion control platform EtherMAC (Ethernet for Manufacture Automation Control) based on standard Ethernet, through unique slave node synchronous and clock correction technology and component-based layered open software structure, a set of high performance Ethernet solution with low cost is provided for robot development.Finally, controller response time of Delta parallel manipulator is tested, and also test the adjustment of trajectory planning, motion parameters and servo parameters, by comparing the adjustment, the optimal control effect can be obtained. In the end the performance comparison with commercial Delta parallel manipulator is made.