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Method for quick modeling of Delta robot based on MAPLESIM

A modeling method and robot technology, applied in the field of modeling based on the MAPLESIM environment, can solve problems such as limited modeling efficiency, seldom use of Delta mechanisms, and reduced model accuracy, so as to achieve the effect of improving design efficiency

Active Publication Date: 2015-07-29
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of modeling method involves the matching of the interface interface and model parameters, and the process is very complicated; the idea of ​​its overall modeling can rarely take advantage of the kinematic solvable characteristics of the Delta mechanism, and the modeling efficiency is limited; and the calculation method used It is an all-in-one numerical iterative method, and errors accumulate in each calculation process, which reduces the accuracy of the model

Method used

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  • Method for quick modeling of Delta robot based on MAPLESIM
  • Method for quick modeling of Delta robot based on MAPLESIM
  • Method for quick modeling of Delta robot based on MAPLESIM

Examples

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Effect test

example 1

[0080] Movement example 1: Specify the input path signal v x,y,z (t) is a circle located on the XY plane in the operating space. At this time, after the robot operating end translates 0.4m from the coordinate center point along the x direction, it performs a circular movement operation on the XY plane with this distance as the radius. Such as Figure 9 As shown, the trajectory of the moving point output by the probe moves along the set path line, and the path signal v x,y,z (t) and the component representation of the output dot trace also coincide with each other, with high precision.

example 2

[0081] Movement example 2: Specify the input path signal v x,y,z (t) is the pick-and-place operation simulation of the robot, which is performed on the XZ plane in the operation space. Such as Figure 10 As shown, the left end of the graphic of the robot operation end picks up the object, picks it up and translates it for a certain distance, and then puts it into the right end. The trajectory of the moving point output by the probe moves along the set path line. After grabbing the object, a certain amount of shaking occurs, and it reaches the end point after stabilization. still have good precision.

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Abstract

The invention discloses a method for quick modeling of a Delta robot based on MAPLESIM. The method is characterized by comprising the following steps of 1, according to the multibody mechanical graph theory principle, abstracting a mechanism topology configuration of the actual Delta robot into a linear graph, and expressing in a character and graph type; 2, sequentially selecting the required elements from a built MAPLESIM element base, and setting attributes and parameters; 3, according to the linear graph, connecting the elements and components, and building a single-branch chain physical model of the Delta robot; 4, copying the built single-branch chain model in step 3 into two other branch chains, and connecting the three branch chains in parallel to build a complete basic model of the Delta robot; 5, solving the built single-branch chain model in step 4, and simulating the motion control on the complete model according to the solved explicit inverse solution. The method has the advantage that by operating the MAPLESIM to analyze, the built model is tested according to the three-dimensional cartoons and tracks, so as to obtain the satisfactory property.

Description

technical field [0001] The invention relates to a MAPLESIM-based rapid modeling method for a Delta robot, which belongs to the field of industrial robots, and especially relates to a modeling method based on a MAPLESIM environment for Delta industrial manipulators, which can effectively, rapidly and accurately establish the physics and analysis of a Delta mechanism Model. Background technique [0002] The Delta robot is a three-degree-of-freedom spatial translation parallel robot (Spatial Translational Parallel Robot, STPR), which has the advantages of strong load capacity, weak kinematic coupling, optimal design, and convenient force control. At present, Delta robots can complete processing, assembly, handling, packaging and other operations in the fields of industry, agriculture, medical care, education, etc., and have become one of the most successful manipulators in automated production. [0003] Modeling analysis is the primary task of robot design and manufacture. At...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1605
Inventor 冯李航张为公龚宗洋林国余
Owner SOUTHEAST UNIV
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