英文摘要 | With the rapid development of China's economy, both the demand and sales of robots in China have increased rapidly. However, the penetration rate of robots in China is much lower than that in developed countries, so the robot industry has a promising and bright future. Among all the kinds of robots, the high-speed parallel Delta robots have the advantages of high velocity, accurate positioning, low cost, high efficiency, etc, which makes it widely used in industrial automated production or packaging lines of medicine, food and electronic products to complete rapid and accurate sorting, grabbing and assembly. While domestic parallel robots started late and have relatively weak competitiveness. At present, China's high-speed parallel Delta robot systems mainly rely on advanced foreign technologies. Therefore, speeding up the research of key technologies for Delta parallel robots and the industrialization of Delta parallel robots can effectively improve the level of industrial automation in China, break the monopoly position of foreign brands and technology blockade, facilitate the breakthrough and localization of key technologies for parallel robots, and strengthen the competitiveness of basic manufacturing equipment.
This dissertation researches deeply on the key technologies for Delta parallel robots, including kinematics and dynamics models, trajectory planning, control algorithm and high speed real time industrial bus. The main contributions and innovations of this thesis are as follows:
(1) For the mechanical structure of the Delta parallel robot, the working space is calculated. The kinematics model of Delta robot are analyzed and solved, including the position model, velocity model and acceleration model of Delta robot. Then the dynamic model of the Delta robot is established using the principle of virtual work.
(2) To solve the problem of picking up dynamic targets effectively for Delta parallel robot in the moving environment, a dynamic picking algorithm based on Ferrari’s method is proposed. First, the modified trapezoidal motion law and the 3-4-5 polynomial motionlaw are introduced. Afterwards, the trajectory planning for pick-and-place operation is performed, and the different conditions of pick-and-place trajectory are analyzed. Then the mathematical model for the target picking problem in the moving environment under different motion laws is established respectively. According to the mathematical model, the dynamic picking algorithm based on the Ferrari’s method is proposed to determine the picking position in order to achieve accurate and fast picking of dynamic targets. The test results and experimental results show that the algorithm is accurate and fast, which can meet the real-time requirements. And this algorithm does not need to set the initial value, less restrictive conditions make it more convenient. On this basis, by analyzing the trajectory planning models of two types of workpieces, the trajectory planning algorithm of sorting multiple types of workpieces is proposed. Firstly the workpiece to be sorted is determined, and then it will be picked up at the picking point which is calculated by dynamic picking algorithm. Finally, experiments prove the stability and effectiveness of the above algorithm.
(3) The trajectory planning method based on PH (Pythagorean Hodographs) curve is proposed to solve the problem that the trajectory of Delta parallel robot in Cartesian space is not smooth when performing high-speed operations. The pick-and-place operation trajectory is determined by applying the PH curve to smooth the transition portion between the vertical movement and the horizontal movement in Cartesian space. The position of the trajectory interpolation point is determined by the trajectory planning for the one-dimensional curve displacement based on the polynomial motion law. In order to minimize the movement cycle time of the pick-and-place operation, the PH curve parameters are optimized to smooth the motion trajectory. The simulation and experimental results show that the pick-and-place operation under the proposed method has a short motion cycle, smooth trajectory and good motion characteristics, and realizes high-speed operations of parallel robots.
(4) In order to realize the trajectory tracking control of the robot, the sliding mode control based on the dynamic model of the Delta robot is proposed. After giving the reference trajectory of the parallel robot, the controller could be designed by sliding mode control, and the force required for the reference trajectory is calculated by solving the inverse dynamic problem of the Delta robot. Then the motor driver of each active joint is controlled to output the corresponding torque so that the parallel robot could move along the reference trajectory. Afterwards, the trajectory generation method is introduced for the situation where the numbers of reference trajectory points are not enough. This thesis considers the circular trajectory as the the reference trajectory to be reached. Simulation experiments demonstrate the effectiveness of the method.
(5) The Delta robot control system is designed in this thesis, including hardware structure and software design. On this basis, EtherCAT is used for the robot system to satisfy the demand for high-speed operations of Delta parallel robots. The Delta robot system based on EtherCAT is designed, including the design of the EtherCAT slave and master. The high-speed pick-and-place operation experiments are completed on the Delta robot system platform. |
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