Control Technology Research Of Battery Sorting Equipment Used Delta Robots

Combined with domestic battery industry to expand capacity, and complete theupgrading of the industrial development demand, we carry out sorting equipment whichbased on Delta robot control technology research,round lithium ion power battery.Using the vector method constructed Delta manipulator inverse position model, andthe elimination of the mechanism to derived positive position model.Based on theposition model established speed model and acceleration model of Delta manipulator soas to provide necessary theoretical premise and technical support.to the control andtrajectory planning of the manipulator According to the sorting equipment space in whichDelta manipulator pick and place battery to confirm the Delta manipulator maximumspace and task space and ontology optimization scale parameter.Based on the kinematics control level, reference to the motion law of cam followerin Theory of Machines and Mechanisms and according to the specific condition of cellsorting, Put forward the system’s maximum acceleration the smallest programmingmethod under the fixed operation cycle and fixed acceleration,and structure evaluationfunction for sorting equipment sorting path. Finally, optimize the corner of the sortingpath which change the corner into arc, to further reduce cell sorting cycle and mechanicalresidual vibration in joint space.Using Kane equation, dalembert’s principle and the principle of virtual workestablished complete rigid body dynamics model of the Delta manipulator. Based on thedynamic control level,conform the key parameter which influence operation performanceof the.manipulator,take servo motor’s speed torque power and reduction ratio of thespeed reducer for example.Through the simulation results verify the correctness of thekey parameters.Based on the separation equipment control strategy,structured Delta manipulator’scontrol system, with Mitsubishi Q02H CPU, QD75MH4motion control module andQJ71C24N serial communication module Carry out studies on path intermediate point’sposition velocity planning methods of parallel mechanism,control datacommunication,operating space teach technology.Ensure the performance of manipulator keytechnology,realized the Delta manipulator motion control.According to the cactus array at the end of the actuator, and the Delta mechanismcharacteristics, developed a Delta manipulator cell sorting procedure program based onPLC and industry computer.