Design of 3DOF Delta Parallel Capture Robot with High Speed and Light Weight

摘要

Abstract For sucking medicine bottles, according to the particularity of camber surface of the bottle and the sucker, in order to improve the speed, accuracy and stability of capture, this paper presents a 3 degree of freedom Delta parallel robot with high speed and light weight. First, coordinate system of the robot is established, kinematical equationes are obtained based on kinematics analysis and geometric parameter is determined according to specified operation space; Next, trajectory planning is proceeded applying double rounded corner door shape loop which could solve the problem of the wobbling of robot arms; Then, robot structure is designed based on lightweight theory using hollow rod and I-shaped arm; In the end, the prototype is processed with adjustable. Design results show that: capture range is 400 mm x 200 mm, maximum speed is 200 time/min, maximum acceleration is 50 m/s2. Setting operator parameter to the maximum value, repeated positioning experiment is completed. With repeated positioning accuracy 0.385 mm, it is strong evidence that the Delta parallel robot presented by this paper could capture targets accurately, even for smaller ones. The results from this study provide theoretical references for lightweight design and trajectory planning of Delta parallel robot, and because this Delta parallel robot uses only mechanical parts to make this accuracy with no electronic sensor and machine vision module, it lays the foundation for further improvement in accuracy of the Delta parallel robot.