Digital Design And Workspace Analysis Of Delta Robot

Parallel Robot has many advantages such as high precision, high rigidity, stable structure, strong carrying capacity and good dynamic performance. Because of its functional and structural complementary relationship with serial robot, the application of robots has been greatly broadened. Owing to its incomparable advantages, Parallel Robot is widely used in sports training simulator, medical instrument, CNC machining, packaging and assembling. In recent years, less DOF parallel robot become one of the research hotspot in the robotics. Delta robot is one of the most typical and widely used, which has simple, compact structure and good kinematics and dynamics characteristic. Delta mechanism is recognized as one of the most successful parallel mechanism so far. Based on previous research, Digital design and workspace research of Delta robot have great significance.Kinematics analysis of the parallel mechanism is the foundation of workspace, dynamics, trajectory planning and error research. The kinematics of parallel robot consists of positive and inverse kinematics. A parallel mechanism simplified model and coordinate system based on the space agency theory and vector method was built up for the Delta parallel robot. Based on the vector relationships, the equation of its kinematics displacement, forward and inverse solutions was investigated, the solve program and numerical example was given by MATLAB which lay a foundation for the follow-up study.Parallel mechanism design involves the research of dimension synthesis, dynamics modeling and parameter test, servo control system. The design of Delta parallel robot in this paper is from actual production and forecast workspace according to the working condition. Its dimension parameters were determined by branched chain force analysis. The digital modeling was build by Pro/E and the structural parameters were defined which achieve the parameters be associated. The secondary development time was saved by the real-time adjustment of Delta robot model structure according to the design requirements. The structural strength and modal were analyzed by ANSYS which evaluated the reliability of model.Introducing the first order influence coefficient theory and the Jacobian matrix of Delta robot which give the speed and acceleration expression of moving platform. According to the algebraic method of Jacobi matrix determinant, the singular position expression of robot was investigated. The kinematics simulation under the specified path was given by ANSYS. We can see any joint displacement, speed and torque information through the simulation results. Based on the forward displacement equation, the workspace simulation was achieved by MATLAB programming for Delta robot model which lay a foundation of the trajectory planning and dynamics analysis of the Delta robot.Energy shortage is the current concern around the world. Based on the inverse kinematics and workspace analysis, the inverse dynamic equations were given through Newton-Euler method. The mapping relation of moving platform and the driving component kinetic parameters of Delta parallel robot is build based on the multi-body system dynamics theory and dynamics analysis. The moving platform energy consumption along planning trajectory is expressed as functional of the trajectory planning. The trajectory planning mathematical model based on the principle of minimum energy consumption is proposed which lay a theoretical foundation to low energy work of Delta parallel robot.