Dynamics and Vibration Analysis of Delta Robot

DOI

10.2991/icimm-15.2015.257How to use a DOI?

Keywords

Delta robot; Trajectory Optimization; Pick-and-Place Operation; Lamé and CAM curve.

Abstract

This paper deals with the dynamics and vibration analysis of an industrial Delta robot when performing high-speed pick-and-place operations. The transitions between the vertical and the horizontal segments of the pick-and-place trajectories are smoothed using either Lamé or cam curves. Using a simplified dynamics model of Delta robot, energy-based cost functions are defined and utilized to optimize Lamé and CAM curve’s geometric parameters. A complete multi-body dynamic model of Delta robot is established with SolidWorks, and then transferred to ADAMS for simulation purpose. These two types of trajectories are compared in terms of residual vibrations and tracking accuracy. The results obtained could lead to practical merits in engineering applications.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zongyu Chang
AU  - Rai Afaq Ali
AU  - Ping Ren
AU  - Guangbin Zhang
AU  - Peixin Wu
PY  - 2015/07
DA  - 2015/07
TI  - Dynamics and Vibration Analysis of Delta Robot
BT  - Proceedings of the 5th International Conference on Information Engineering for Mechanics and Materials
PB  - Atlantis Press
SP  - 1408
EP  - 1417
SN  - 2352-5401
UR  - https://doi.org/10.2991/icimm-15.2015.257
DO  - 10.2991/icimm-15.2015.257
ID  - Chang2015/07
ER  -