The simulation study of optimization of pick-and-place route for delta robot based on lame curves

摘要

In order to achieve pickup and placement of high-speed light load in industrial production, three degree of freedom Delta robot is designed to meet this requirement. In this paper, we take Delta manipulator as the research object, analyze the mechanical structure and establish kinematics model of Delta manipulator. We establish the corresponding mathematical model on the basis of the simplified kinematic model, and then obtain the kinematics inverse algorithm. In order to improve the motion characteristics of Delta manipulator, lame curves is used to smooth the right angles of transitions, thus establishing the overall shape of the trajectory in Cartesian space. The position, velocity and acceleration of the one-dimensional curve are obtained through the high order polynomial motion characteristics. Through the simulation of virtual prototype ADAMS and MATLAB, the mechanical residual vibration parameters of the Delta robot are obtained, and the optimized trajectory has good performance by comparison.