基于最大工作空间的DELTA机器人尺寸综合与优化

Optimization and Dimension Synthesis of the DELTA Robot based on the maximum size of working space

在DELTA机器人的工程设计中,需要选取适当的机构参数,其中机构杆长是一个很重要的参数。解决机构的尺度综合问题是非常必要的。本文利用DELTA机器人的物理模型,运用代数法和几何法,在机构设计空间内,对特征杆长进行无量纲分析,找到关键机构尺寸,进行归一化处理;对其工作空间进行拓扑分类和体积计算,找到最佳杆长向量(依据工作空间体积最大);在工程应用中,为此类机器人的设计和制造提供一定的理论指导。

The rod length is a very important parameter in the DELTA robot engineering design, so how to select the proper parameters of the mechanism is a necessary thing. Solving the problem of scale synthesis of mechanism is very significant. Based on the physical model of DELTA robot, using the algebraic method and geometric method, Eigen rod length is analyzed by Non-dimensional method and is normalized with according to the key rod length size in the design of spatial mechanism; Topological classification and calculation of the volume of the work space are proposed to find the best length vector(according to the maximum workspace volume); It provides some theoretical guidance for the design and manufacture of this kind of robot in engineering application。