Development of the Delta Robot

• Main Authors: Zheng, Bo-Sian, 鄭伯賢
• Other Authors: Chen, Shin-Hung
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/8r96z9

碩士 === 遠東科技大學 === 機械工程研究所 === 105 === In this paper, delta robot is developed in the mechanism section, using Matlab software to simulate the actual position of the delta robot when the horizontal angle of the arm to achieve kinematic verification, and according to the mobile demand travel to calculation the upper and lower arm and the correlation size, and then through the Solidworks drawing software to design the appropriate mechanism and implementation; control part, it is the use of real-time embedded controller through the EtherCAT interface by the driver control servo motor. Control program is through TwinCAT 3 and Microsoft Visual Studio C # both writing PLC logic program, axis control program and man-machine interface program, motor axis control is used to the PID method instructions to adjust the torque output force ratio of the servo motor, acceleration and deceleration time and frequency correction time. The experimental results are mainly divided into kinematic verification, load test and repeatability experiment. Kinematic verification experiment, is the comparison of the kinematic formula in the literature to calculation the angle difference between the simulated angle and the real machine, the result of the angle error value within 0.2 degrees; Experiment part of the load test, use the self-made load mechanism to test the delta robot for different weights and different acceleration and deceleration with the observed under the load of the motor load changes, analyze the practical feasibility of some of the tool mechanisms used in the machining of delta robot for the actual installation of mechanical tools or mechanical fixtures; repeatability part, in the fixed mobile 60mm, positioning accuracy range can be within plus or minus 0.1mm.