Experimental validation of dynamic models for high-speed Delta robots Experimental validation of dynamic models for high-speed Delta robots

This paper covers the design and implementation of the Delta parallel robot, including kinematics, control design, and optimization trajectory techniques. For the structure, the Delta robot is quite similar to the parallel platform mechanism, in which the inverse kinematic model is typically straigh...

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Vydáno v:International journal of dynamics and control Ročník 13; číslo 4; s. 146
Hlavní autoři: Dang, Hoang-Viet, Bui, The-Mong, Nguyen, Thi-Van-Anh, Nguyen, Danh Huy
Médium: Journal Article
Jazyk:angličtina
Vydáno: Berlin/Heidelberg Springer Berlin Heidelberg 01.04.2025
Springer Nature B.V
Témata:
Accuracy
Actuators
Aluminum base alloys
Complexity
Control
Control algorithms
Control and Systems Theory
Control theory
Controllers
Design optimization
Dynamic models
Dynamical Systems
Efficiency
End effectors
Engineering
Kinematics
Man-machine interfaces
Manufacturing
Mass production
Optimization techniques
Parallel platform mechanisms
Robot control
Robot dynamics
Robotics
Robots
Software
Trajectory optimization
Velocity
Vibration
Visual programming languages
Delta robot
Pick-and-place operation
Kinematic model
Motion control
Parallel robot
ISSN:2195-268X, 2195-2698
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Popis
Shrnutí:This paper covers the design and implementation of the Delta parallel robot, including kinematics, control design, and optimization trajectory techniques. For the structure, the Delta robot is quite similar to the parallel platform mechanism, in which the inverse kinematic model is typically straightforward, the direct kinematic model’s analytical derivation might be challenging or even impossible to calculate. End-effector, base, and some other parts are made of aluminum alloy using CNC technology to expedite the robot’s construction. The parts may be constructed slower than those made using mass production techniques, as they are modular, high accuracy, low density compared to steel alloy, and durable. The Visual Studio software environment and Mitsubishi’s PLC software are used as a base to program the controller, which includes the control algorithm and human–machine interface. The robot’s workspace-based actuator speed and acceleration limitations are taken into account during trajectory optimization. An integrated system containing image recognition and motion controller is shown. The experimental findings show that the suggested Delta robot effectively finished the tasks in those competitions.
Bibliografie:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:2195-268X
2195-2698
DOI:10.1007/s40435-025-01651-4