Research On DELTA Robot Control System

As a high speed,high precision and high flexibility device,the parallel robot is highly concerned in the manufacturing field now.DELTA robot is the most classic parallel robot structure;its driving devices are installed on fixed platform which can reduce moving parts' carrying burden.DELTA's balanced overall structure design emerged stronger carrying capacity,less heavy load ratio and better moving feature.In practical applications,DELTA robots are mainly used for sorting and packing items and coordinate with visual systems in most scenarios.In this paper,the DELTA robot software control system is designed and researched utilizing German 3S CODESYS software.Firstly,the DELTA robot structural model is studied to derive the positive and negative solution operation equation by analyzing its geometric structure and the kinematic basis.Then,the communication function between controller and teaching pendant is analyzed and determined with the fast and good scalability Ethernet after several communication ways comparison.Meanwhile,the application layer communication protocol between controller and teaching pendant is formulated according to robot operating character.The interaction data between them is functional classified and set with command code.The processing program of each command function is written in the control system.The control system main function mainly focused on host computer's control task and real-time operation processing,including communication processing,teaching order monitoring processing,teaching document management,servo motor motion control,I/O signal real-time monitoring and fault diagnosis and security protection.The control system in this paper utilized the general CNC machine G code as robot motion control instruction.The controller that ran CODESYS software resolved the instruction sent by the instructor and automatically generated the CNC format G code file.Then,the automatic storage function of the live motion trajectory was completed.This work eliminated the cumbersome process of manual input motion instruction and reduced the human input error.The path object data that can be handled by interpolator was obtained by parsing the automatically generated G code file.Finally,the 3Dmax software was used to perform 3D model based on DELTA robot geometry and kinematics model and OBJ format model files were generated.The dynamic simulation of DELTA parallel robot was carried out using VC ++ and OpenGL.