High-speed Parallel Industrial Robotic Arm Design And Implementation

Parallel robot has a stiffness, strong bearing capacity, a small proportion of the weight load,good dynamic performance, etc. Parallel and serial robots constitute a complementaryrelationship, greatly expanded the application field of robotics. So far, Delta robot design is oneof the most successful parallel robot. Currently, it has been successfully used in food andpharmaceutical packaging industry. This article will focus on the high-speed parallel Delta twoDOF industrial robot. The full text of work and results are summarized as follows:(1) High-speed parallel Delta two DOF industrial robot three-dimensional model wasconstructed. Precision、 low speed、 high torque direct drive torque motor as the drivemotor is used to robots, improve the efficiency and accuracy of the robot.(2) Inverse kinematics and positive kinematic robot mathematical models have beenestablished. Lagrangian dynamics simplified mathematical model of the robot is built.The robot work space and singular configuration was analyzed.(3) In order to make the designed robot be able to run high-speed, high-precision smoothly,conducted joint space, work space and mixing space the robot trajectory planning, andthe use of dynamics for the corresponding optimization. Finally, the feasibility oftrajectory planning algorithm was validated by experiments.(4) Direct drive torque motor control is realized by using an ordinary PC, Robot operatingsystem of Linux system ROS, Galil Motion Control Card, Copley Drive.(5) In order to achieve user-friendly operation, motion control interface is written inPython. Users can quickly and easily master the operation of Delta robots.Eventually, through experimental tests proved the feasibility of the robot electrical controlscheme. Provide a solid foundation for further exploration of the new robot trajectory planningalgorithm and motion control method.