D2 Delta Robot's Control System Research And Development

In the research of Delta robots,people have more in.depth and mature research on multi.degree.of.freedom Delta robots.However,in the actual engineering application environment,we do not need more than three degrees of freedom.We only need two degrees of freedom to implement the operation of the object.Compared with multi.degree.of.freedom Delta robots,the D2 Delta Robot is simple in structure,economical and easy to implement motion control.Now it has become a research hotspot for domestic and foreign scholars.This topic takes the D2 Delta Robot as the research object,and gives a detailed overview of the development process of the entire robot movement.The specific research content is as follows:(1)Determine the structural schematic diagram of the D2 Delta Robot,and design the structure of each part of the robot according to the structural schematic diagram of the robot and the actual application requirements.Using SolidWorks to design the robot structure into a CAD model,and use the 3D printing technology to process the designed CAD model of the robot.Through practical observation,the applicability of the robot structure design is verified.(2)In order to realize the precise control of the robot,after the structure of the robot is determined,the kinematics analysis of the robot is performed.The forward running mathematical model and inverse kinematics mathematical model of the established robotic mechanism.The robot's CAD model is built by Simmechanics in the Matlab Simulink environment.The Simmechanics model of the robot is built in Simulink,and the robot's forward kinematic mathematical model and inverse kinematics mathematical model are used to perform the robot's precise control motion simulation.(3)The communication system is an indispensable part of the robot control system.This research project uses EtherCAT communication technology combined with Simulink Real Time real.time control technology in Matlab to build a new type of EtherCAT real.time communication system based on Simulink Real Time.(4)In order to realize the stability and smoothness of the robot during the movement,a third.order uniform acceleration and deceleration trajectory based on the Jerk constraint is designed in the trajectory control.The trajectory control logic algorithm is merged with the State Flow toolbox in Matlab and added to the third.order uniform acceleration/deceleration motion trajectory to form the robot motion trajectory controller.(5)Build a control platform for the robot and fuse the robot's hardware control system with the software control system to form a complete robot control system.Finally,through the comparison of robot motion parameters,the accuracy and practicality of robot motion control are determined.