Delta并联机器人拖动示教及再现研究

Research on Hand Guide Demonstration and Teaching Playback of a Delta Parallel Robot

基于自主搭建的Delta并联机器人,深入研究其拖动示教以及示教再现过程,以降低其控制难度,提高并联机器人实用性和协作性。对Delta机器人进行运动学建模和动力学建模,然后进行无外部传感器机器人的拖动示教实验,并在对各关节轨迹优化后进行运动再现。结果表明:通过该方法,操作人员能够便捷地对并联机器人进行拖动示教,实现机器人的快速部署。

Based on the self⁃built Delta parallel robot,the hand guide demonstration and teaching playback of the parallel robot were studied to reduce its control difficulty and improve the practicality and collaboration of the parallel robot.The kinematics and dy⁃namics of the Delta robot were modeled,and the external sensor⁃less robot hand guide demonstration test was carried out,finally the motion playback was performed after each joint trajectory was optimized.The results show that by using the proposed method,operators can hand guide the parallel robot conveniently,thus the robot can be deployed rapidly.