Simulation Research On Trajectory Tracking Control Of Delta Robot

With the continuous development of industrial robots,robots,especially parallel robots,with a large operating space,bear the load capacity,high precision of movement,simple inverse kinematics,fast operation and a series of advantages have been widely used in all walks of life.They are favored by many researchers.In recent years,in the cosmetics,pharmaceuticals,electronics areas of the packaging production line,there are large quantities of repetitive work,such as demolition,sorting,handling,etc.Most of the current work has been done by artificial,which is bound to reduce work efficiency and product accuracy.So it is necessary to develop a less freedom manipulator which can improve work efficiency and product accuracy,and replace the manual to complete the work.Delta robot is a typical three degrees of freedom and translational parallel mechanism.Compared with the serial robot,Delta robot has many advantages,such as relatively simple overall structure and the high speed of end effector moving.Therefore,it has successfully solved above problems and has been widely used.At present,the research on the trajectory planning and control strategy of Delta robot at home and abroad is not mature enough,which leads to the problem that the motion precision is not high and the motion stability is low.The object of this paper is to research Delta robot.Firstly,the research status of Delta robot at home and abroad is summarized.Secondly,the freedom degree,structure design parameter and structure connection form of the mechanism are determined through the theoretical analysis and structural analysis of Delta robot.In addition,the solid model of Delta robot is established using Pro/E software,and the rationality of the structure is verified.Furthermore,the model is transformed using the interface between Pro/E and ADAMS software.The established 3D solid model of Delta robot is imported into ADAMS.In order to create a virtual robot model via adding quality and constraints,the reasonable trajectory planning of the Delta mechanism is carried out in the joint space,kinematics and dynamics simulation analysis based on ADAMS software.Simulation results show that the speed and acceleration of the end effector vary uniformly with time,and the angular velocity and angular acceleration of the active arm is the same as above,and transition is smooth at the corner,demonstrating that the running process of Delta robot is more steadily,and it has good motion performance.Finally,in order to improve the trajectory tracking accuracy of the mechanism,the motion trajectory of end actuator of Delta robot is used the control target to establish the PID control system and the fuzzy PID control system using MATLAB.Subsequently,joint simulation is done based on ADAMS and MATLAB.The simulation result show that the fuzzy PID control is not only faster than PID control,but also has higher control precision,indicating that it achieves a more satisfactory results and provides reliable theoretical guidance for the study of Delta robot trajectory tracking control.