Delta机器人运动优化的研究

Research on Motion Optimization of Delta Robot

轨迹规划是设计Delta机器人末端执行器的运动轨迹,可保证Delta机器人高速、流畅和精准运动。以自主研发的Delta机器人样机测试分析为基础,研究末端执行器的运动轨迹。采用参数修正模式优化轨迹,获得均匀平滑、周期短、冲击弱的轨迹,提高了Delta机器人运行速度。

Trajectory planning is to design the trajectory of the end effector of Delta robot, in order to ensure the high-speed, smooth and accurate motion of Delta robot. Taking the Delta robot prototype test and analysis as the foundation, conducts the research to the trajectory of the end effector. The trajectory is optimized by the parameter correction mode, which is not only uniform smooth, short period and weak impact, but also improve the running speed of Delta robot.