Path Planning And Control Of Delta Robot For High-speed Handling

Delta robots are high speed and efficient industrial robots that are widely used in automated production lines.The application and development of Delta robot in China is relatively weak.Therefore,the research object of this paper is Delta robot,from the track planning,control of two aspects were analyzed and studied,aimed at improving the stability of the robot movement,and reduce its residual vibration.The main contents of this paper are as follows:1)Delta Robot Mechanism and Motion Analysis.Firstly,the degree of freedom of Delta parallel robot is analyzed.Secondly,the kinematics model of the robot is established,and the inverse kinematics of the robot is deduced.The positive solution of the robot is used to analyze the work space.Which laid the foundation for the planning and control of the trajectory.2)Design and Optimization of Delta Robot Trajectory.Firstly,it analyzes the existence of a right angle in the trajectory path,resultin g in a sudden change in velocity and acceleration,which leads to a sudden change in inertial force.In order to avoid the inertia force of the mutation,the use of cyclotron-circular curve-the way the connection to the connection processing.Secondly,the trajectory of the trajectory is established,and the corresponding coordinate transformation is carried out,and the asymmetric velocity law and the symmetrical velocity law are analyzed respectively.Finally,the maximum acceleration of the end of th e robot is taken as the optimization target,and the optimization parameters of the optimized trajectory are obtained.3)Robot system construction.Based on the analysis of the open controller structure,the control scheme of PC + motion control card is s elected.The motion control card is briefly described,and the high motion control card is described in detail.Secondly,according to the robot's high-speed demand,the machine vision is discussed,select the Delta machine vision system,and introduce its application.For the construction of the experimental platform to lay a good foundation.4)Experimental platform construction and experimental analysis.First of all,the completion of the experimental platform to build the work,the hardware includes: the robot body,the next machine controller,servo motor unit,machine vision system,electrical devices.Secondly,the independent development of the robot control software was introduced,the software uses a multi-threaded architecture,you can complete the servo motor test and trajectory control tasks,and the motion controller PID tuning.Finally,the standard trajectory experiment is carried out,and the optimized trajectory is compared with the circular transition path with radius of 25 mm.The contrast experiment is carried out under the symmetry velocity law.Experiments show that the optimized trajectory can make the robot move more smoothly and the residual vibration is smaller.The optimized trajectory is compared with the two laws of asymmetric vel ocity law and symmetrical velocity law.The results show that the robot has less residual vibration under the asymmetric velocity law.