Performance Analysis Of Delta Robot System Based On ADAMS

With the improvement of automation and the development of China's national conditions,more and more enterprises have a higher and higher demand for robots,and industrial robots are used in a wide range of fields.Delta parallel robot has the advantages of high stiffness,small error and fast response speed.It has been applied in food,electronics,dairy industry and other production practices.This project on the basis of the Delta parallel robot as the research object,using the characteristics of the closed loop structure,establish the robot's kinematics equation,and based on Adams is inverse kinematics and dynamics simulation,respectively,through constructing the Delta parallel robot experiment platform,planning different trajectory,obtaining servo motor data information,and compared with the results of simulation analysis,validating the feasibility of the model.Firstly the paper simplifies the model of Delta parallel robot,deducing the relationship between the angle of the active arm and the structural parameters,studying and analysing eight possible inverse motion degree forms,and determining the joint understanding according to the actual motion requirements.At the same time,the forward kinematics position,velocity and acceleration are solved,and the numerical solutions are mutually verified by Matlab programming.Finally,the workspace range of the robot is obtained according to the forward kinematics model.Secondly,in the Delta parallel robot,the mass of the slave arm is reallocated considering that the slave arm contains multiple motion types.Therefore,the model is simplified to include only the static platform,the active arm and the moving platform,and the relevant inertia matrix is obtained.The dynamic equation of the robot is established by using the principle of virtual work.Then,SolidWorks is used to establish a 3D solid model,and Parasolid format is used to import Adams software.By setting relevant environmental parameters and using point-to-point driving method,kinematics and dynamics simulation are conducted respectively,and data change curves such as active arm and moving platform are output in PostProcessor,so as to provide reference for the comparison of data obtained in the test.Finally,the test platform of Delta parallel robot was built,including the body of the Delta parallel robot,control cabinet,small conveyor belt,camera and other equipment.By planning different trajectories,the motion condition on the horizontal plane is tested.Adept Motion is used to test the repetitive positioning accuracy of the robot in the sorting process.The complex motion curve is planned,and the motion performance of the robot on the trajectory is analyzed,and the rationality of the model is verified by comparison with Adams simulation results.