Abstract
By absorbing the advantages of the rotary-driven Delta robot and linear-driven Delta robot, a Delta robot for pick-and-place operation that forms a crank-slider at the drive joint is designed.To take the most common gate shaped curve in Cartesian space as the motion trail of robotic pick-and-place operation, according to the kinematics inverse solution theory of Delta robot, this thesis mainly solves the output angular velocity of robot-driven joint. Establishing the static transfer mathematical model and solving the forced condition of driving joint. The simulation analysis show that after the upper slider-crank mechanism is connected to the driving joint, the angular velocity of the driving joint changes suddenly, which caused a rigid impact on the robot in the picking and releasing operation, though the force of the driving joint can be made smaller.
Highlights
Delta robots have been proposed by Dr CLAVEL since 1985[1] and many prototypes for different purposes have been made
This article by absorbing the advantages of the rotary-driven Delta robot and linear-driven Delta robot[14,15], a Delta robot for pick-and-place operation that forms a crank-slider at the drive joint is designed.To take the most common gate shaped curve in Cartesian space as the motion trail of robotic pick-and-place operation, according to the kinematics inverse solution theory of Delta robot, this thesis mainly solves the output angular velocity of robot-driven joint, the output force and torque of robot-driven joint, the output linear displacement of the slider that linked at the drive joints
According to the kinematics inverse solution theory of Delta robot, solve the linear displacement of the slider linked at the drive joints, as follows Fig.12 to Fig
Summary
Delta robots have been proposed by Dr CLAVEL since 1985[1] and many prototypes for different purposes have been made. Most of these robot widely apply used in electronics, food, medicine and other fields with the advantages of high bearing capacity, high positioning accuracy, simple structure, easy to achieve high-speed movement, etc[2,3,4,5,6]. Stability and rigidity of Delta robot’s high-speed, high-frequency and pick-and-place operation play an important role in the design stage and running process. Analyze the value of the Slider-Crank Mechanism used for Pick-and-Place Operation of Delta Robot
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