| Summary: | 碩士 === 正修科技大學 === 機電工程研究所 === 103 === Parallel robots are highly-precise, fast, rigid, can pick things up fast, has the screening ability, has strong bearing capacity, light in weight and has good dynamic performance. With the current widespread use of complementary series robot, Delta parallel robot is the most typical three-DOF space movement parallel mechanism. The structure of the whole Delta mechanism is not complex and the moving platform is always maintained at horizontal position. Moreover, the up and down movement of the platform can quickly and efficiently execute grab and packing actions.
This paper discussed the mathematical modeling and geometric modeling of the three-axis Delta robot and completed the assembly of the components separately and the construction of deputy transport movement, system movement, and dynamics simulation and analysis. Secondly, with the planned size, combinations of drawings and actions required, a 200 watts motor, motor drivers and multi-axis controllers were selected and complete the assembly, test machine and specific functions of the prototype according to the pin functions and specifications for testing.
Keywords: parallel robot, parameter optimization, software simulation.
|
|---|
