Kinematic Dynamics Analysis And Simulation Research Of Six-Degree-of-Freedom Delta Robot

As an important branch of parallel robots,Delta robots have all the advantages of parallel robots.This topic adds three rotational degrees of freedom at the end of the three-degree-of-freedom delta robotic platform,so that the new six-degree-of-freedom delta robot not only inherits the advantages of light weight,small size,fast motion,etc.,but also makes delta robot Can adapt to more complex working conditions,grab the workpiece that ordinary robots can't grasp.Firstly,this paper divides the 6-DOF delta robot into two parts,parallel mechanism and series mechanism,and separately analyses and establishes the mathematical model of parallel mechanism and series mechanism,so as to get the kinematics mathematical model of parallel part and series part,and finally couple the two parts to get the whole 6-DOF De.The kinematics mathematical model of LTA robot is validated by matlab,which provides a theoretical basis for the following robot workspace and trajectory planning.Similarly,the virtual segmentation method is used to segment the six-degree-of-freedom Delta robot,and the dynamic mathematical model of the robot is obtained by Lagrange method.Secondly,with the help of kinematics mathematical model and MATLAB software,Monte Carlo method is used to analyze the workspace of a six-degree-of-freedom Delta robot,and the point cloud of the maximum workspace of the robot is derived.The analysis shows that the working range of the end-effector of the robot in the X-axis direction is[-700-500 mm],in the Y-axis direction is[-600-600 mm],and in the Z-axis direction.The working range is[-200-1050mm].The trajectory of the robot is planned in adams,and the trajectory file of the robot is obtained.Finally,the structure of the 6-DOF delta robot is analyzed by UG modeling software,and the three-dimensional entity model of the robot is established.Then the three-dimensional model is imported into adams,and the kinematics simulation analysis of the robot is carried out by using the data obtained from trajectory planning.The torque and force curves of each motor are obtained.According to the curve,the model of the driving arm motor is SM-S8166,and the model of the rotating shaft motor is SR-403P.The flexible body file of the driving arm of the robot is established by using ansys,and the rigid-flexible coupling analysis of the six-degree-of-freedom delta robot is carried out by using adams.The fifth order modes of the robot and the force acting on the driving arm are obtained.According to the modal analysis,the resonance phenomenon can be avoided when the working frequency is 283Hz.According to the force acting on the driving arm,the robot driving arm is improved.