Delta robot structure parameter design method for overcoming rotation angle limitations of universal joint

Abstract

The invention discloses a Delta robot structure parameter design method for overcoming rotation angle limitations of a universal joint and belongs to the field of Delta robot structural parameter design. The rotation angle range of the universal joint is always a 90-degree taper angle space and has a certain difference compared with the rotation angle range of a spherical hinge, accordingly a Delta robot with the universal joint can have a good work space, and the structure of the Delta robot is optimized with the need of calculation. Influences of the universal joint on the work space of the Delta robot can be eliminated, and the Delta robot can have a larger work space. The calculation process includes the following steps that known parameters and to-be-designed parameters of the Delta robot are determined; a rectangular coordinate system is built; four special movement poses of a driving arm and a driven arm are determined in the coordinate system; according to an expected work space, Delta robot structure parameters capable of overcoming the rotation angle limitations of the universal joint are designed.

Description

technical field [0001] The invention relates to a method for designing structural parameters of a Delta robot. The Delta robot uses universal joints as hinges between a master arm and a slave arm and between a slave arm and a moving platform. Background technique [0002] With the continuous advancement of China's industrialization process, the application technology of industrial robots has developed rapidly. As an important functional part of the equipment manufacturing industry, industrial robots are playing an increasingly important role in the automated logistics production system of the workshop. Delta robot is one of the most successful parallel robots in commercial application at present. It has the advantages of fast speed, high precision, simple structure, large load capacity and convenient control. It is widely used in food, medicine, medical and other production fields. [0003] The arm joint of the Delta robot is usually hinged by a ball joint, which is differe...

AI Technical Summary

Problems solved by technology

However, the working space of the Delta robot using the universal joint will be limited by the working space of the universal joint. Since the range of the universal joint’s rotation angle is small, it is a 90° cone angle space, which limits the movement range of the Delta robot. The space is relatively smaller

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