Trajectory Planning And Experimental Research Of 4-DOF Parallel Robot For High Speed Sorting

For the industry demand for equipment upgrade and transformation in the traditional food packaging industry,advanced technologies such as parallel robots,machine vision,motion control,and servo drive are used to develop high-speed light parallel robots for food sorting and packaging to improve production efficiency,reduce labor,ensuring food hygiene and safety have become a trend in the robot industry.The paper combines the topic of the national key research and development plan of the research group.Analyzed the actual demand of food sorting and packaging,and carry out the mechanism analysis,trajectory planning and experimental research of high-speed light parallel robots:1.Based on Adept's Quattro series parallel robot configuration,the design scheme of high-speed light parallel robot was presented.The robot consists of a moving platform,a static platform,an active arm,a follower arm and an end effector.The robot drive used a high-performance servo motor and a harmonic reducer.The main and slave arms used light carbon fiber to achieve high speed and high-precision four-degree-of-freedom motion at the end of the robot.2.The mathematical model of the parallel mechanism was established,and the positive and negative solutions of the robot were derived.The main factors influencing the robot workspace were analyzed.The limit coordinate search method was used to optimize the robot workspace.And then determined the robot structure size.The 3D model of the robot was also established and completed the CAD structure of the robot.3.In the aspect of parallel robot trajectory planning,the motion geometry path of high?speed parallel robot was introduced in detail,and the high-speed light parallel robot is the gate path.Based on the gate-type path,the trajectory of the high-speed parallel robot was planned by the five-time B-spline curve method,and the performance parameters that best represent the B-spline curve were obtained.The check simulation of the Lame curve and the piece4.Based on the VC programming environment,the high-speed light parallel robot motion control software was compiled,and the experimental research was carried out on the high-speed light parallel robot experimental prototype.The residual vibration of the Lame curve,the piecewise polynomial curve and the five-time B-spline curve were respectively carried out on the experimental prototype,the relationship between speed and time and the relationship between jerk and time.It is concluded that the trajectory of the high-speed parallel robot planned by the five-time B-spline curve method is smooth and optimal.