直线型Delta机器人运动学分析

Kinematics Analysis of a Linear Delta Robot

直线驱动型Delta机器人相较旋转驱动型Delta机器人具有刚度大、控制精度高等优点,但对其运动分析的研究较少且方法复杂,对读者知识水平要求较高。针对上述问题,提出一种基于坐标关系的运动学问题计算方法。该方法仅搭建单坐标系,将运动分析问题转换为数学方程组求解问题,通过对方程组约束条件的限定,有效地解决了逆运动学分析多解问题。实验结果证明该方法的准确性。与传统方法相比,该方法省去了复杂的坐标系变换、简化了运动分析过程,因而降低了对阅读者知识水平的要求。

Linear drive Delta robot has advantages of large rigidity and high control accuracy.Compared with the rotary drive Delta robot,But the research of kinematics analysis is less and the method is complex,therefore readers need to hold highl knowledge level. In this paper,a calculation method of kinematic problem based on coordinate relation is proposed. Only a single coordinate system is constructed in this method,and the problem of kinematics analysis is converted into a mathematical equation group.The problem of inverse kinematics analysis is solved effectively by restricting the constraint conditions of the equations. The accuracy of this method is demonstrated by experimental results. In this method,the complex coordinate system transformation is eliminated and the process of kinematics analysis is simplified.