Motion Reliability Analysis of the Delta Parallel Robot considering Mechanism Errors

摘要

Delta parallel robots are widely used in assembly detection, packaging sorting, precision positioning, and other fields. With the widespread use of robots, people have increasing requirements for motion accuracy and reliability. This paper considers the influence of various mechanism errors on the motion accuracy and analyzes the motion reliability of the mechanism. Firstly, we establish a kinematic model of the robot and obtain the relationship between the position of the end effector and the structural parameters based on the improved D–H transform rule. Secondly, an error model considering the dimension error, the error of revolute joint clearance, driving error, and the error of spherical joint clearance is established. Finally, taking an actual robot as an example, the comprehensive influence of mechanism errors on motion accuracy and reliability in different directions is quantitatively analyzed. It is shown that the driving error is a key factor determining the motion accuracy and reliability. The influence of mechanism errors on motion reliability is different in different directions. The influence of mechanism errors on reliability is small in the vertical direction, while it is great in the horizontal direction. Therefore, we should strictly control the mechanism errors, especially the driving angle, to ensure the motion accuracy and reliability. This research has significance for error compensation, motion reliability analysis, and reliability prediction in robots, and the conclusions can be extended to similar mechanisms.