The Structure Analysis And Control Research Of Delta Parallel Robot

In electronics,food,medicine and other industries,the Delta parallel robot with high speed,high rigidity,high precision etc advantages,instead of manual to completepicking,sorting,packing series of repetitive tasks.This reduces the manpower cost,and more accurate and more efficient.With Delta parallel robot,this paper studies the structure characteristics,sets up the simulation model,grabbing the target objectby the visual system.The main content of the researchis:First,the paper introduces the design of the Delta parallel mechanism,on this basis,with simplified model,respectively through mathematics analytic method and geometric method the inverse solution of kinematics and positive solution can besolved.On the basis of mechanism kinematics,the limited factorsof the working space areanalyzed.Finally based on the analysis of the system energy,including all parts,kinetic energy and potential energy of system,Lagrange function of the system is obtained.By differentiatingLagrange function equation withsystem of generalized coordinates,Dynamics fundamental equationis calculated.Secondly,with the screw and reciprocal screw theory to solve the constraints of the jacobian matrix and driven Jacobi matrix and get the complete jacobian matrix.Through the analysis of the complete jacobian matrix getting singular configuration,the overall mapping of generalized force between the input and the output of the manipulator are built upconsisting of actuation and constraint force mapping relation,than the condition number of matrix can be obtained,with the static analysis of condition number finally the parallel robot transfer performance and the relationship between structure parameters can be understood.Then,use SimMechanics toolbox basic module and the mechanical system block diagram and combining with the Pro/e,establish the SimMechanics simulation diagram of parallel robot,on this basis,the parallel robot kinematics simulation can be carried on,and set up the system PID control simulation platform,to control the simulation research.Finally,this paper introduces visual motion control system,through the camera image acquisition getting target object,through image processing obtain the position of object in the coordinate system,plansmotion trajectory and the path of robot.Through the PC software platform to control the motion control system experiment,verify the theory and the feasibility of the scheme.