3 Dof Delta Parallel Robot Dynamic And Static Characteristic Analysis And Optimization

At present, the hot research on sorting industrial high speed three DOF Delta parallel robot parallel mechanism in the field, on the basis of previous research, analysis and optimization of static and dynamic characteristics of Delta parallel mechanism. This paper introduces the domestic and foreign development, application and characteristics of parallel robot. The kinematics analysis part, on the one hand, through the geometric method of parallel mechanism, inverse position analysis, on the other hand, the forward position analysis of the parallel mechanism of geometric method and analytical method. At the same time, this paper uses the kinematics simulation analysis based on Adams software, through the analysis of the virtual prototype can be more accurate, intuitive attitude and input mechanism motion drives change. Comprehensive dimension error, rotation clearance error, driving the three aspects of the mechanism of error analysis, reliability analysis of Delta parallel mechanism.The positioning accuracy and tracking accuracy of parallel mechanism execution end control system programming by the mechanism, the influence of dynamic and static stiffness. The increase of stiffness will reduce the agency cost control system and programming part of the request. Considering the influence of parallel mechanism and the general method of stiffness for the comprehensive mechanism of hinge stiffness and load factors, by considering the bar itself gravity and the rod by binding under the influence of the elastic deformation mechanism. The establishment of mathematical model of stiffness, the numerical solution of MATLAB function, the obtained under different external load and posture change the stiffness of mechanism. At the same time, a simplified model of the Delta parallel mechanism is established in the 3D modeling software CATIA, using the large-scale finite element analysis software Ansys Workbench static stiffness analysis of mechanism of action 14, obtained after the analysis of the static stiffness and stiffness results comparing mathematical model. Finite element modal analysis of mechanism based on the whole, get the natural frequencies of institutions, get the stiffness characteristics of dynamic mechanism.Optimize the structure of the mechanism using the response surface method is popular at present, through the optimization of the key parts to reduce the maximum stress value mechanism, improve the safety of the whole working process of the mechanism, on the basis of the theory of mechanism design and reference.