Mechanism Analysis Of Delta Robot And Realization Of Code Interpreter

Delta robot is a kind of parallel robot with 3 degree of freedom.T he drive part of the robot is distributed on the fixed platform,and the master arm and slave arm of transmission part are all slender rods,which makes the robot have the characters of small size,lightweight,fast moving speed,positioning accuracy and good dynamic performance.So the robot is produced and developed by many robot companies and widely used to do fast sorting,grabbing,and assembling in the food,pharmaceutical,and electronics industries.But owing to the light weight and slender geometry of its construction member,the master arm and slave arm will be elastic deformation and vibration,which will cause robot end output position error.It is not conducive to robot operation in high speeds,especially in high precision requirement situation.So it is significant to study the elastic vibration and robot motion errors caused by the vibration while the Delta robot working.This topic starts from two sides: analysis of the Delta robot mechanism and motion trajectory of robot,and propose a robot kinetoelasto-dynamic model,also make smooth programming of operating path.We do this to research the adverse impact caused by the vibration.Besides,we also develop the explanation module and interpolation module in Delta robot control system based on the motion planning.Making the master arm and slave arm as flexible mem ber,we carry out the mechanism analysis of Delta robot as flexible parallel robot;To reduce the operation acceleration and impact,we do smooth path and trajectory planning for Delta robot.We build kinetoelasto-dynamic model of flexible rod structure rod using finite element method and lagrangian method.Using system dynamics and kinematic constraint,we get system general elastic-dynamics equation by assembling the kinetic equation of each linkage.Then we solve the system dynamic equation and do numerical simulation and analysis through MATLAB to get the elastic error variation during the robot operation.For the problem of the robot operating path and shock vibration caused by direction discontinuity of adjacent path,we use fourth order Bezier curve to fit the rectangular section path and make smooth transition,and in Cartesian space use polynomial with 5 degree to do trajectory planning for the straight path to make sure the succession of speed and acceleration.Through MATLAB analysis validation,we effectively reduce the elastic error amplitude and frequency.Simultaneously we do programming for the code compiling system and interpolation module in the robot software module specific to the process of Delta robot from programming instruction inputting to interpolation points location generating;make the transfer from the modules source instruction lexical analysis,syntactic analysis,and semantic analysis to intermediate code come true,and further call track interpolation module to get the motion parameters of each interpolation point in the operating path.