The Delta Robot Dynamics Analysis And Modeling

As the labor costs increased in recent years, the industrial automation abilitycontinuous develop, industrial robots are being more widely used. one of the mosttypical use of industrial robots is automotive industry automated assembly. Parallelmechanism high stiffness, high load capacity, high precision and small self-heavyfeatures, Making it widely used in light industrial automated assembly. Delta parallelmechanism is the research subjects in this paper, create a complete dynamic model.In order to analysis it easier, First, simplified the structure according to theirstructural characteristics. Establish the Delta Parallel mechanism constraint equation,get the Delta robot inverse kinematics, also introduce the forward kinematics geometricsolution. On this basis, analysis of the speed and acceleration of robot, deduced thejacobian matrix. Verify the correctness of the model by comparing the Matlabsimulation results and the actual robot end-effector speed. Also analyzed Delta parallelmechanism kinematics performance, Within a given workspace, manipulability andconditioning are set as the index of the robot operational performances. Using Matlabprogramming and simulation the robot manipulability and conditioning distribution inX-Y. Simulation results show good performance in the given workspace. By using thiscorrect model, combining simulation result and analysis methods to obtain maximumspeed of Delta robots in common trajectory.This paper presents vector analysis method to solve the maximum speed of therobot. Finally, through the analysis of the mass inertia matrix of follower rod, reasonablesimplify the model. set up a mathematical model by using principle of virtual work,obtain a explicit form of the output torque of the active arm.Finally, the shortest cycle time as the design target, also taking smooth movement into account. Writing trajectory equations based on preliminary trajectory planning ofDelta parallel manipulator.