Application of motion control system for delta parallel robot

摘要

This article presents a practical motion control system used in high speed delta parallel robot. Generally, a complete motion control system includes human-machine interface, motion controller, drivers, actuators, feedback cells and transmission mechanisms. In addition, the motion control system is always designed in accordance with specific mechanical structure and operating requirement. In this paper, the structure and kinematics analysis of delta parallel robot are introduced firstly, then we design an integrated motion control system for this robot, at last, an elliptical orbit experiment of delta parallel robot is used to verify the performance of this motion control system.