The Design And Achieve Of Delta Parallel Robot

After entering the 21 st century,China's national strength has continued to develop and the quality of its population has continued to improve.People have also put forward higher requirements for the quality of industrial products.At the same time,China's demographic dividend period has passed,and population costs have increased year by year,making it difficult to recruit workers.The problem is also becoming increasingly prominent,espe-cially due to the impact of the new crown epidemic,China has put forward higher require-ments for "Made in China 2025",and the policy of machine substitution is imperative.As the ultimate executor of intelligent manufacturing,industrial robots' research and devel-opment and promotion are an important part of the implementation of the machine substi-tution policy.Based on the existing parallel robot architecture,this article will design a ro-tating parallel robot for the low-cost,high-density,and high-volume manufacturing indus-try represented by CR2032 battery production,through structural improvement and soft-ware and hardware development.The robot enables it to cooperate with the AI industrial machine vision system to quickly complete the sorting of defective products.First of all,this article will investigate a battery manufacturer.Based on the workflow of the first-generation linear parallel robot provided by our laboratory for this company,refer to the mature delta-type parallel robot to determine the structure of the rotating par-allel robot and the corresponding The upgrade and transformation plan of the embedded system,and the control software design according to the rotating kinematic model.Then,study the structural characteristics and electrical system of the delta architecture parallel robot.According to actual needs,use Solidworks for mechanical design and physi-cal modeling,mechanical and interference analysis of the structure,determine the material and size,and perform mechanical drawing outsourcing processing And select the motor and reducer through load analysis.After the mechanical structure design is completed,the kinematics analysis of the robot structure will be carried out.First,the robot kinematics equation will be deduced,and then the deduced formula will be written into Maltab for simulation calculation to verify the correctness of the equation,and use Simulink to analyze the rotating parallel robot Perform motion simulation verification.According to the performance requirements of the new generation of rotary robots,the characteristics of the selected servo motors and drivers,and the signal transmission characteristics of the AI vision system,the characteristics of the onboard modules and external modules of the controller are analyzed,selected and modified.Then,according to the requirements of the CR2032 production line targeted this time,the working logic is deter-mined,and on the basis of the existing linear parallel robot control program,the motion control,trajectory planning,communication and user interface are adapted to the rotary parallel robot program.Transform and optimize,realize its inverse kinematics equation,so that it can meet the basic requirements of CR2032 sorting.Finally,the prototype is built and the performance test of the rotating parallel robot is carried out.Through the final prototype test,it is finally determined that this rotary parallel robot meets all the indicators of CR2032 battery sorting,and can be put into actual production application on the basis of meeting the cost requirements.