Design And Verification Of DELTA Parallel Robot In Visual Recognition And Sorting

In recent years,the output value of my country’s snack food industry has grown rapidly,and high labor costs have become a key factor restricting the profits of snack food companies.At the same time,the development of robotrelated fields has made it possible for industrial robots to replace repetitive human labor on the production line of enterprises.Aiming at the current situation of snack food companies that consume a lot of labor costs for bagged food into the box,the visual recognition sorting and packaging unit is developed,and the parallel sorting robot based on the Delta configuration is used in combination with machine vision to complete the process of bagged food into the box.Specifically,the following design,analysis and verification are made for the sorting robot.According to the special spatial symmetry form of the sorting robot’s Delta configuration,the geometric structure model is simplified,the positive and inverse mathematical models of the sorting robot’s position are given,and the Jacobian matrix is obtained,and the singular position is analyzed according to the Jacobian matrix..The rigid body inverse dynamics model of the sorting robot is established based on the virtual work principle method.In order to analyze the performance of the sorting robot,a 3D-CAD-model was established,and a virtual prototype was established in ADAMS,and the correctness of the robot kinematics and dynamics model was verified through simulation.The reachable space of the sorting robot is analyzed based on the position inverse solution.Through the trajectory planning of the end effector in Cartesian space,the acceleration trajectory planning function is determined when the design requirements are met.By estimating the maximum angular velocity and maximum driving torque of the joint drive and the equivalent inertia of the robot,the selection of the servo motor is completed.The finite element analysis software was used to analyze the static stiffness and mode of the sorting robot in a typical configuration,and the weak structure of the robot was determined.Through the flexibility of the slender slave arm,a virtual prototype of the rigid-flexible coupling of the sorting robot is established.Under the typical motion trajectory,through comparison with the rigid virtual prototype,the relationship between the end position error and the acceleration of the end effector is analyzed.The composition and control process of the visual recognition sorting and coding unit were determined,and a prototype was manufactured for sorting,coding,and debugging,and the automatic packing of bagged spicy strip products was successfully realized,which verified the rationality of the design of the sorting robot.In order to further guide the production design of the sorting robot,the performance evaluation function of the robot is constructed based on the quality matrix of the robot,and the size of the robot is optimized.