Kinematics Analysis And Path Optimization Of Delta Parallel Manipulator

Delta parallel robot is widely used in mechanical and repetitive work because of its high speed and good stability.Kinematics analysis is the basis of studying the running state of parallel robot,and also provides data support for trajectory planning of parallel robot.Due to sorting parallel robot is often used in high speed,the rigid impact is bigger also,good trajectory can be reduced in the operation of the parallel robot under rigid impact,improve running smoothness and work efficiency,this article revolves around parallel robot kinematics analysis and trajectory optimization,the main research content is as follows:First of all,by robot components of the geometric relationships between parallel robot kinematics equation,combined with MATLAB to calculate the inverse solution and random example calculation,and then on the basis of the positive solutions combined with MATLAB to calculate the workspace of the robot.Secondly,this paper deeply studies the parallel robot in the process of running track smoothness effect on rigid impact,the disadvantages of traditional portal trajectory are analyzed,and through the trapezoidal algorithm to planning the path,and then use ADAMS to two kinds of trajectory simulation,by comparing the two kinds of trajectory under the robot's speed,acceleration and displacement curve,proves that the optimized trajectory curve has higher continuity.Again,this article through in astro boy parallel robot platform respectively to the traditional door trajectory planning and trapezoidal algorithm of trajectory experiment validation,compare two groups of experimental data,it is concluded that planning the trajectory of trapezoidal algorithm can effectively reduce the parallel robot due to the speed of the rigid impact,and the running time significantly shortened.Finally,the multi-objective sorting path optimization of the parallel robot is carried out.The multi-objective sorting path of the parallel robot is transformed into an approximate(TSP)problem,and then the main parameters in the practical work environment into parallel robot to the genetic algorithm,by setting an appropriate iterative termination conditions,and comparing the fixed path of sorting and the whole of the optimized sorting running time,proves that the optimized the overall time needed for sorting path shorter.