H-Delta: design and applications of a novel 5 degree of freedom parallel robot

摘要

This thesis presents a new parallel 5 DOF robot called the H-Delta. The H-\nDelta adds 2 degrees of freedom (DOF) to the traditional Delta robot in a novel\nway, adding functionality and versatility. Importantly, the rotational DOF are\ndecoupled, independent of the translational movement.\nThis thesis begins by covering the necessary background the H-Delta is built\nupon, and then describes the structure of the H-delta and how it improves upon\nthe state-of-the-art. The kinematic analysis of the H-Delta covers the inverse\nkinematics, Jacobian matrix derivation, stiffness, and dexterity. To provide a\nreference to an existing structure the H-Delta is compared to the benchmark\nStewart Platform.\nA Dynamic analysis is performed by formulating the dynamic equations of\nthe H-Delta using the Lagrangian method. The results of the dynamic calcu-\nlations are verified with a dynamic simulation which also acts as a test bed to\ndevelop control systems.\nA multi-objective optimization of the H-Delta is presented and using the in-\nformation accrued to this point an initial prototype is designed and constructed\nto verify the H-Delta structure.\nWith the knowledge of the strengths of the H-Delta gained from the analysis\nand prototype, select applications are presented where the H-Delta best lends\nits strengths to the application.\nThe H-Delta is mounted on a UAV to survey and interact with its surroun-\ndings. The prototype can use an on-board camera to track the position of an\nobjective on the ground and center the gripper over it. When the UAV gets close\nenough, the H-Delta reaches out and automatically retrieves the object. When\nflying around, the H-Delta stabilizes the movement of the end effector, reducing\nacceleration. The prototype movement is measured and the results show that\nthe end effector is accurate to within 3mm and the rotation is accurate within\n0.5 degrees.