Optimization Design Of Delta Robot And Research On Motion/visual Control Technology

With the gradual disappearance of Chinese demographic dividend, the upgrading of economic structure and the rising cost of manufacturing, the automation market of domestic manufacturing industry is developing rapidly. And robot is one of the key technologies, so the first thing we must solve is developing industrial robots of high speed, high precision, strong stability and low cost. At present, sorting, grasping, packaging and other simple repetitive operation at food, medicine and 3C industry production line were mainly completed by human resources, it generally has the disadvantages of low efficiency, high cost, easy pollution etc. While Delta parallel robot has the advantages of simple structure, overall stiffness, light weight, high speed, high precision, simple control and low manufacturing cost, can replace people to complete the operation completely. Against the development of Chinese manufacturing automation, this paper does some theoretical research, simulation analysis and engineering practice to develop a kind of Delta parallel robot which is used at food, medicine and 3C industry production line to complete pick and place operation.Firstly, kinematics and dynamics of Delta robot were analyzed in my research, including confirm the motion characteristics by mechanism analysis, obtain the analytical expression by analytic geometry method, get the Jacobi matrix of the robot by differential transformation, analyze the work space by Monte Carlo method, establish inverse dynamics model by D'Alembert method.Then, the better structure parameters are obtained by Matlab programming and the modified trapezoidal acceleration curve and the door shaped motion path are proposed. In order to test the curve and path, the two joint simulation systems are established based on Matlab and Adams, and the results showed that they meet the requirements of smooth trajectory without mutation.Finally, the motion control technology and visual control technology are studied. Through the design of motion controller of four axis industrial robot and the overall scheme of visual control system, the solution of object recognition and dynamic target tracking, realizing the function of grasping dynamic target on the conveyor belt quickly.