Abstract
Delta robot system is a complex dynamical system with severe nonlinearity and complex coupling relationship between multi-link and multi-joint. The existing analytical methods are Lagrange’s method, Newton-Euler method, Gaussian method and Kane method. Each method inevitably has some problems, in order to be able to complete and accurate calculation of the robot in the specified workspace of motor parameter problem. We use the Dynamics simulation method to set the limit motion point, that is, using SolidWorks 3D modeling, using the “motion” analysis in the Solid Works tool to simulate, the “motion” analysis will accurately describe the robot motion process, including three rotary servo motor, motor torque, angular velocity, angular acceleration and many other parameters. This paper use FANUC Robot M-2iA to verify the result of experiment. ROBOGUIDE is also used. Select the corresponding parameters of the motor, will obtain the most suitable motor, Delta robot to meet the specified work space in the maximum work efficiency.
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