Research And Development Of Embedded Integrated Driver And Controller Of Delta Robot

Accompanied by the concept of industry 4.0 and the emergence of China's manufacturing 2025 plan,indicates that the application and development of industrial robot has become an indispensable backbone of industry.Robot control technology has become key technology of industrial intelligent equipment.Due to the lack of core technology in Chinese industry robot,it is urgent to develop our own high performance industry robot controller independently.The integrated drive and control technology is better than the existing control products whether in space volume or cost,however,the existing integrated drive and control technology is mostly developed by foreign company,and is not open to our country,China is currently still in the initial stage in developing the integrated drive and control technology.This paper mainly presents an idea of integration technology and the implementation on Delta robot.On the platform of the integrated system,an improved kinematics method is proposed to combine the spatial geometry method and the vector method.This paper mainly analyzes the integrated drive and control technology,and the implementation of the hardware system.Meanwhile,an improved delta robot inverse and forward kinematics mathematical solution is presented based on geometric vector method.Firstly,the model of the delta robot is established based on geometric vector method,which leads to the simplification of the kinematics mathematical solution of delta robot.The experiments and simulation prove that the control model is correct.And then the Jacobian matrix of the velocity and acceleration is calculated.Meanwhile the singularity of delta robot is analyzed.Secondly,the hardware control strategy of the controller is designed based on the functional requirements of Delta robot.A hardware architecture of ARM + DSP + EtherNet is proposed according to the integrated control system hardware platform for the Delta robot kinematics and dynamic control.Thirdly,the servo drive system control model with feed forward PID is established based on the integrated drive and control hardware platform.The F28M36 and F2812 cpu are also designed to meet user requirements in the robot motion control.Finally,dynamic motion experiment has been carried on the integration drive and control platform for Delta robot,including kinematic model experiment,point-to-point continuous motion experiment,dynamic pick and place experiment and frog leaping repeat experiment.Data collected in these experiments are analyzed and compared by MATLAB.The feasibility and reliability of the application in integrated drive and control technology used for Delta robot is proved by experimental verification and data analysis.Meanwhile,the validity of the improved kinematics method based on the spatial geometric vector method is proved working.