Design And Optimization Of Delta Parallel Robot Based On Open Motion Control Platform

Under the project background of the research on the open motion control platform,aiming to design and implement the hardware platform and the software platform control system of the Delta parallel robot,this article focuses on the following issues: the Delta parallel robot kinematic error model,robot calibration,trajectory planning and the control software development.First,the degree of freedom of the Delta parallel robot is discussed.Based on the simplified model,the error model of the Delta parallel robot is proposed,and the forward-inverse kinematic solution is given.A calibration method using the particle swarm Optimization algorithm is introduced.Second,the Delta parallel robot trajectory planning algorithms are explored.By discussing the typical S type planning curve,a method using time and displacement to quickly determine the type of S type planning curve is proposed,and the functions which can easily be implemented in computer are described.Based on the S type planning,the trajectory planning including the spatial linear,arc and the transition using the Bezier curve are also introduced.Third,to verify the theory mentioned above,an experiment platform of Delta parallel robot is set up.For the hardware platform,the mechanical part including the robot body,servo motor,servo driver,and the electric part including the control cabinet and the motion card,are all introduced.For the control software,the implement of the motion card is discussed,and a method to solve the problem that the motion card cannot read the multi-turn information of the servo motor's encoder is proposed.This section also introduce the interface of the control software which is based on MFC.Finally,using the previous research theory,the trajectory planning experiment and the calibration experiment are performed.The trajectory planning experiment uses a spatial path as an example to verify the feasible of the trajectory planning theory.Laser tracker is used in calibration experiment.When dealing with the calibration data,a software developed by Matlab language is introduced,it simplifies the data processing work.The result of calibration also verify the reliability of the calibration method.