Development And Application Of High Precision Delta Robot

In industrial robots,Delta robots are widely used in the industrial field due to their high precision,high speed and high stability,while the application and development of Delta robot in China is relatively weak.Therefore,the research object of this paper is Delta robot,which aims to improve the robot motion precision and stability.In order to improve the accuracy and stability of the robot,based on its mathematical model,optimize its structural parameters,and finally build a Delta robot with high precision,strong stability and simple operation,the main work of this paper is summarized as follows:(1)Firstly,the structure is designed for the Delta robot.Three-dimensional modeling of the machine is performed using SolidWorks and analyze the rationality of its structure.Through the analysis and calculation of the main components selection,including the selection of servo motor,control chip selection and so on.Select a reasonable assembly mode to build the prototype.(2)Secondly,the kinematics and dynamics of the mechanism are analysized.By using the space geometry method to analyze the position positive inverse solution of the robot,the simulation results of ADAMS are compared with the MATLAB mathematical model,and the correctness of the inverse kinematics model is proved,which lays the foundation for the dynamics and structure optimization.Based on KED theory and use finite element method,the elastic dynamic equation of robot from boom structure is deduced,the corresponding program is programmed by MATLAB,the error of robot in motion is analyzed,and its elasticity error is reduced by introducing Fourier function correction,which provides reference value for engineering application.(3)Thirdly,the robotic mechanism was optimally designed.the selection range of working space and structure parameters is determined and the objective function is established.A set of specific optimization structures parameters are obtained by using genetic algorithm to automatically optimize the target function.The analysis shows that the optimized robot has good kinematics performance and satisfies the need.(4)Finally,the error of robot end trajectory is measured and compensated.First,the binocular vision system is used to measure the position of the robot's end trajectory,and the relative error of the trajectory is obtained.Through a set of self-developed error compensation system to compensate for the relative error of the robot,the experimental data show that the system has obvious effect on improving the relative accuracy of the end trajectory of the robot.Based on kinematic dynamics analysis and structural optimization,this paper constructs a reasonable structure,high motion precision,simple Operation Delta Robot prototype,and through a self-developed trajectory measurement compensation system,the end of the robot terminal repeat positioning accuracy reached 20?m,positioning accuracy reached 50?m,In addition to the traditional sorting and assembling fields,the application field of the prototype is applied to the fields of laser cutting,printing and drawing,which has practical application value.