Research On Delta Parallel Robot Control System

Compared to the tandem robot structure,the delta parallel robot has the advantages of low inertia,high stiffness,higher precision and better dynamic performance.Therefore,the parallel mechanism is concerned by the academic community,and delta parallel robots are also widely used in the industrial field.The kinematic positive inverse algorithm will be applied to the delta parallel robot kinematic buffer.In this paper,using MATLAB numerical calculations,the data of five active arm input angles of a delta parallel robot are randomly taken.The positive solution algorithm is used to obtain the data of the end positions of the moving platform of five delta parallel robots.The data of the end positions of the five platforms of delta parallel robots are obtained.The data of five input angles of the three active arms are obtained by the inverse solution algorithm.It was observed that the positive inverse kinematics solutions of the five groups of data were mutually verified.On the basis of the forward kinematics solution algorithm of Delta parallel robots,Monte Carlo method is used and MATLAB numerical calculation function is used to obtain a standard three-view and overall three-dimensional map of a delta parallel robot working space.The research of delta parallel robot motion control system lies in the clipper controller and servo driver parameter setting and software programming.In the hundreds of parameters,find the parameters that need to be set,and effectively understand the meaning of the parameters,and apply them in practical projects.Using the clipper controller and Yaskawa servo driver,single axis sine debugging of Yaskawa servo motors was realized.The clipper is used as a host computer,and attempts to use the teaching method to program.The movement effect of the moving platform end is not ideal.Attempting to establish a kinematic buffer zone for the delta parallel robot,the linear interpolation at the end of delta parallel motion platform,circular interpolation,curve fitting,and finally the writing work will be completed,and the delta parallel robot will be written at the end of the moving platform.By analyzing the actual renderings of “Beijing University of Civil Engineering and Architecture” + “cardiac image” written at the end of delta parallel robot platform,possible improvements are proposed.