The Dynamic Conveyor Tracking Of Delta Robot

The3DOF delta robot is one of the most typical parallel Robot. It has many advantages, such as high movement speed, accurate location, high efficiency, light weight etc. It has been widely used in the electronic products industry, food packaging industry, biological pharmaceutical industry,3D printing. With the development of robot technology and the improvement of people’s living standard, It is improvement to improve the quality of product and the number of product.This article mainly took Delta robot as the research object. Firstly, it introduced the development of industrial robots at home and abroad; then analyzed the forward kinematics and inverse kinematics of Delta robot, the calibration of conveyor belt and camera; then introduced a PID tracking algorithm and a improved tracking algorithm; moreover display the flow chart of software design of Conveyor Administor, and resolved the problem of several joint data filtering, sorting, update of data status, coordination work of multi-robot;One of the core content of this article is the dynamic tracing of robot to the moving objects on the conveyor belt, coupled with the position of the conveyor belt encoder feedback data. Visual system locates the object’s positions then gives them to the delta robot. Conveyor Administor calculates the position of object in the robot coordinate system with the real-time system. Robot can predict the object’s position on the conveyor belt, and adjust their movement speed and real-time posture to track objects on the conveyor belt in position mode and through the improved tracking algorithm, which finally realizes the dynamic tracing to moving target object. The another core content of this article is the operation for continuous object on a conveyor belt, in actual application, There should no missed object, so, that requires that the robot move faster, objects are followed by fetching order must plan well. In the end, the paper puts forward the solution and design data management software.Through the analysis of the results and the experimental verification, the basic dynamic tracing method satisfied the requirements of practical application. It provides the technical guidance for the back of the project application, and realize the coordination working of multi-robot.