Research Of Delta Parallel Robot Control Technology In Kinematics

Delta parallel robot is a kind of special industrial robot owning the advantages of high speed,high precision,and high carrying capacity.Because of its few driving parts and compact structure,it has better development than traditional robot As the Delta robot is a kind of nonlinear and coupled high-speed motion system,it is difficult to meet its high speed running requirements with the ordinary control algorithm,which limits it extent.The sliding mode variable structure control can effectively solve the problem of the control problem of the nonlinear system,and have the strong robustness to the system parameters and the external disturbance.This paper inspired by sliding mode control of series robots,from the dynamic perspective model of robot proposed a based on parallel robot dynamic model of double sliding mode control strategy,to reduce the steady-state error of the system,which overcomes the high-speed motion under external interference and external parameter perturbation effect of positioning accuracy of the robot,the system has good stability.Firstly,this paper analyzes delta parallel robot mechanical structure,and carries on the reasonable simplification of the geometric structure of the robot from the kinematic of view.Combined with the use of analytical method,the forward and inverse solution is got by algorithm on the robot.Combined with real verification and basis of the robot singularity,workspace is analyzed and planned.In order to make up for the deficiency of kinematics analysis,more accurate model of the robot is obtained.Subsequently,from the point of view of inverse dynamics of delta parallel robot,an in-depth research is carried out on the mechanical structure of the quality distribution to get the simplified dynamic model under guarantying the accuracy of robot,which can be used for the analysis and design of controllers.Under the basic upholstery in the first three chapters bedding,the combined with the kinetic model of single loop sliding mode controller and double loop integral sliding mode controller are designed,as well as the dynamics model control effect is simulated and compared.The better controller is used to experiments for real robot.At last,an improved adapt motion curve is optimized from practical view,and real robot is tested with the control strategy.Delta parallel robot experiments show,the robot under the control strategy designed by this paper,has great dynamic performance and tracking performance in given trajectory,which meet the needs of industrial environment,in high speed running state.Therefore,the content of this paper meets the requirements of high-speed,high-precision Delta robot,and has practical value and engineering value.