Delta机器人工作空间与力矩传递性能分析

Analysis of a Delta Robot's Workspace and Torque Transmissibility

为分析Delta机器人在实际运用中的负载能力大小的分布情况,研究了Delta机器人的力矩传递性能。提出了一种基于蒙特卡洛法的绘制机器人工作空间简单高效的方法;推导了机器人的运动学逆解表达式,选取连续可达工作空间逆解表达式唯一的区域作为实际工作空间,并以此确定Delta机器人能够抓取的物体其理论最大高度;绘制机器人在实际工作空间的z轴方向不同截面上的力矩传递性能图谱。仿真结果表明:Delta机器人的力矩传递性能较好的位置总体呈对称分布,且是小区域集中,整体散布,负载能力随截面高度的增加而增大。

In order to analyze the distribution of load capacity of Delta robot in practical application,the torque transmissibility of robot was discussed. A simple and efficient method based on Monte Carlo to draw Delta＇s workspace was presented. Expression of inverse kinematics of the robot was derived,selecting the area of continuous reachable workspace as practical workspace whose inverse kinematics expression was unique,and based on this to determine the theoretical maximum height of an object for a Delta robot to grasp. Graphs of torque transmissibility of the robot were drawn on different cross sections along the z axis in practical workspace of the robot. The results of simulation indicate that the positions of better torque transmissibility of Delta robot are generally symmetrical distributed,small-area concentrated and overall scattered,and the load capacity increases with increasing the height of the cross section.