Research On Kinematics Analysis And Control System Of DELTA Parallel Robot

With the development of our country’s industry and the growing of the labor costs,the mode of production industry must be changed.The DELTA parallel robot has the characteristics of simple structure,light weight,high precision and fast speed,which has been used in many fields,such as food,3C,medical and so on.The main research content of this paper was as follows:(1)Research on mechanical kinematics.This paper analyzed the structure and degrees of freedom of the three-degree-of-freedom DELTA parallel robot are analyzed,and the kinematics model is established on the basis of the constraint relationship between the rods.This paper ensured a unique solution by analyzing forward kinematics solution results.This paper proved the correctness of robot’s kinematics and inverse kinematics by simulation analysis.This paper verified the workspace of the three-degree-of-freedom DELTA parallel robot.(2)EtherCAT and servo system design.By analyzing the technical principles of EtherCAT,this paper built the EtherCAT master station was built,and designed some hardware of the EtherCAT slave station was designed.This paper designed the power supply of the servo system,the wiring of the servo motor,the encoder,etc.are designed.(3)The master station software of the control system is developed by using VS platform and C# language.This paper compiled communication,parameter definition,motion control and other modules,and encapsulated them into dll files.Based on the dll function tool library,the software interface and functions of the control system are were developed,and the functions of the system such as communication,bus initialization,parameter definition and motion control were tested.(4)Experimental verification.This paper used Wireshark software to capture packets of EtherCAT communication and master-slave data communication.The experimental results showed that the communication of the control system designed in this paper had high real-time performance.This paper carried out the motion control experiment of the three-degree-of-freedom DELTA parallel robot is carried out.By analyzing the feedback data of the encoder,this paper proved that this system has a high positioning accuracy.In the experiment,the control system successfully drove the three-degree-of-freedom DELTA parallel robot to complete linear interpolation,spatial arc and continuous interpolation motion.The experimental results showed that the control system designed in this paper had certain reliability.