Modelling and Path Planning of Delta Parallel Robot in Virtual Environment

摘要

The paper presents an approach to path planning of industrial robot based on the exchanging the signals between its virtual geometric and kinematic models. The proposed approach is applied to an example of parallel robot ABB IRB 360 in a working environment. It has a parallel structure and is capable of very fast pick and place and assembly operations. The kinematic model has been developed in BondSim environment. The virtual 3D model is created using VTK 3D models of the robot parts by importing stl files of the parts from official ABB web site. The 3D model was created in BondSim3D Visual program environment. Validation of the proposed approach was done by simulation. During a simulation runs these two models exchange necessary information.