| Summary: | 碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 104 === A parallel robot is one kind of robot that plays an important role, and also the Delta robot is widely used in industry nowadays. It not only presents the background of the Delta robot including its history and development in this thesis but also explains the industrial applications, the current design and the future trend of Delta robot. Then it proposes nine differences between the parallel robot and the series robot. Ultimately, the kinematics of the Delta robot, including the direct and inverse kinematics, the workspace, and the singularity analysis, are systematically presented in detailed.
This study mainly focuses on the trajectory planning for the Delta robot, which includes the path planning in the three-dimensional space and the motion profile design of the end-effector. The path planning provides straight lines, circles, parabolic curves, Bézier curves, Cubic-spline curves, and B-spline curves. The motion profile design provides the trapezoid speed control and the S-curve speed control. These paths and the speed control methods are usually applied to the industry. When the path is specified, the Simpson's rule and the bisection method are applied to determine the coordinate of the end-effector at any specific time, and then the angles of the active joints can be evaluated based on the inverse kinematics.
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