Research On Adept Trajectory Optimization And Control Of Delta Parallel Robot

As a fast,small size,light weight and high efficiency industrial robot,Delta parallel robot is widely used in logistics sorting,welding,flight,glass manufacturing and other fields.During the experiment,the vibration of the end of the manipulator and the tremor of the fuselage will occur during the grasping operation,which will lead to the decrease of efficiency and accuracy.In order to solve this kind of problem,the trajectory optimization and motion control are studied deeply in this paper.The main research contents are as follows:(1)Firstly,the Delta robot is analyzed from the forward and inverse kinematics solutions,and the workspace of the end mechanism is simulated by MATLAB software.(2)Secondly,interpolation smoothing is applied to the joint of Adept trajectory type.In order to minimize the maximum acceleration of the end effector of the manipulator,the Adept trajectory of the cubic parabola-circular curve-cubic parabola processing is optimized.(3)Thirdly,the three-dimensional space model of Delta parallel robot is constructed in ADAMS software,and the simulation of PO task with starting point XYZ(50,0,-100),ending point XYZ(-50,0,-100)and height of 80 mm is carried out.(4)Finally,the vibration experiments of PID control and computational moment control are constructed by using MATLAB software.The hardware and software design of the whole robot are carried out,and the experimental platform is built.Finally,three groups of experiments are carried out: Adept type,classical Adept type and control group,which are optimized by cubic parabola-circular curve-cubic parabola.Experiments show that the calculated moment control method makes the output moment of Delta robot small and the position error minimum.The vibration amplitude of the optimized trajectory group decreases greatly.The peak value of vibration decreases by 13.6% in the x-axis,45.1% in the Y-axis and 19.9% in the z-axis.