Structural Design and Efficient Workspace Optimization of a Four-bar Delta Parallel Picking Robot

Abstract

At present, the application of parallel picking robot has been very popular, but there are some problems in the actual life that the mechanization efficiency is not high enough. In this paper, through the analysis of the structure design of the existing four-bar Delta parallel robot in the laboratory, combined with the kinematics analysis of the parallel robot, the forward kinematics solution and the inverse kinematics solution are carried out. With Monte Carlo method as the forward kinematics research method and MATLAB as the simulation tool, the workspace of the parallel robot is simulated, and the effective workspace is optimized for the size of the driven arm and the size of the driving arm respectively, so that the effective workspace proportion reaches 0.4836, which is far higher than 0.1434 of the original scheme. The experimental data show that the idea of structure design of Delta like parallel robot in this paper can be used to improve the benefits of mechanization in actual production and life to a certain extent.