Research On Motion Control Of Delta Handling Robot For Water Jet Machine Tools

A jet-driven micro-fabrication technology is used in water jet machine tools,where parts need to be transported accurately and quickly to the machine table in the machining line.The Delta robot was selected for the part handling task after comparing the characteristics of the different types of handling robots.Firstly,the paper defines the performance indicators of the Delta robot,selects the specific structure of the robot,creates a three-dimensional model of the robot and engineering drawings of the main components,manufactures the robot components and builds a prototype.The forward(inverse)kinematics and dynamics of the Delta handling robot are analysed using the geometric analytical method and numerical and iterative solutions are obtained using MATLAB and Adams respectively,with the two solutions being used to verify each other to ensure accurate modelling.The robot's workspace without odd positions is then determined and the effect of load on the robot's drive joint torque is simulated and analysed to select the servo drive motor type and size.The trajectory is then designed using a symmetric seventh order polynomial law of motion combined with a Lamé curve transition for the Delta handling robot for the water jet machine tool.MATLAB calculates the interpolation points of the robot's end moving platform position and drive joint angle,Simulation analysis using Adams shows that the Lamé curve transition path combined with the symmetric seventh order polynomial motion laws can effectively reduce the shock and vibration in the part handling task compared to the circular transition path.Finally,to address the strong coupling characteristics of the robot at high speeds,the paper uses the designed handling trajectory,Joint simulation of robot feed-forward,PD combined with feed-forward and computational torque control algorithms by Simulink and Adams,The results show that the Delta handling robot has good trajectory tracking performance and meets the accuracy requirements of the part handling task when using the computational torque control algorithm.The hardware equipment is selected and configured,the control interface is developed using Visual Studio and the trajectory is verified experimentally,showing that the robot can complete the trajectory in the operating space with a smooth trajectory when the trajectory planning method based on the Lamé curve transition path is used.