DELTA并联机器人极限负载对轨迹控制影响

Analysis and Research on Limiting Condition of DELTA Parallel Manipulator

为了完成DELTA并联机器人的工作效率最大化、运动稳定性尽可能提高、运动精度和控制精度更加精准等要求,文章针对此要求进行了DELA并联机器人在动平台末端处于极限负载工况的研究。该实验采用编程软件vs2013作为运动控制平台,采用绝对式编码器采集机器人末端位移数据,通过机器人末端轨迹跟踪曲线,得出机器人末端极限负载对DELAT机器人的运动控制精度和轨迹规划产生较大影响的结论。最后文中做出机器人末端极限负载相应的预测趋势图,并做相关实验验证预测趋势图的正确性。

In order to improve the working efficiency,the motion stability,the moving precision and control precision of DELTA parallel manipulator,this paper completes the analysis of limiting load of DELA parallel manipulator. In this study,the programming software of vs2013 was used as the motion control platform.Absolute encoders were used to collect the displacement data of the robot terminal. By comparing the trajectory tracking with the theoretical displacement curve,my research deserve a conclusion that Limit load for DELAT robot at the end of the robot motion control accuracy and trajectory planning have great influence.for verifying the correctness of the forecasting trend,this paper,Finally,makes the prediction trend of the ultimate load of the robot.