Delta Robot Dimension Synthesis And Dynamic Analysis

The Delta manipulator with its strong bearing capacity,stiffness,the cumulative effect of small,high precision,simple structure,easy inverse solution and other advantages,since,by packaging,medicine,food,electronic assembly and other manufacturers of all ages.Although the market and the economic benefits are enormous,the parallel mechanism research and control more difficult,so in the market share of domestic manufacturers is very limited.In recent years,the upsurge of Delta robot research,but the research results are more concentrated in the field of theory and scient ific research units,research based on the practical application of the less.According to the conditions of the manipulator to meet,determine the need to meet the design requirements.Further analysis of the structure characteristics of Delta manipulator,establish mathematic al model,calculate the inverse posit ion.Analytical expressions and 3D model data comparison,confirms the correctness of the model and the inverse solution.Using chart method,change the main structure parameters and load value,through the simulation analysis of these parameters influence the driving torque of the motor.Analysis of the relationship between the angle of input operation platform with the motor,with the minimum number of global condit ions as the optimization index,to include the whole working space as constraint condit ions,function optimization,optimization flow chart according to the procedures for the preparation of Matlab value of nine sets of structural parameters to obtain the global minimum condit ion number,general dynamics influencing factors mentioned above,selected a set of parameters as the optimal parameters.Before using the Lagrange equation method for the derivation process,ignore or equivalent link arm result in big errors and the use of the principle of virtual work,the computational complexity of the complete derivation,the dynamics equation was established using the Lagrange method,by introducing Lagrange mult ipliers and generalized coordinates,to simplify the calculation process.The application of virtual prototype technology,the simulation analysis of three kinds of condit ions.The same trajectory,the same speed condition,the motor torque curve.Delter manipulator with frame orientation relation is determined.The prototype of the software and hardware of the system,through the experimental verification of the Delta manipulator developed to meet the design requirements,can satisfy the design of operating space,repetitive positioning accuracy,load and speed requirements.The research results for the basic production model has been applied to the actual production line.