D2 Delta Robot Structural Design and Kinematics Analysis

1st International Conference on Frontiers of Materials Synthesis and Processing

材料科学;化学

Yang, Xudong^1 ; Wang, Song^1 ; Dong, Yu^1 ; Yang, Hai^1

College of Mechanical Engineering, Guizhou University, Guiyang, China^1

关键词: Application requirements;    Design and analysis;    Design mechanisms;    Kinematics analysis;    MATLAB environment;    Multi degree-of-freedom;    Robot motion control;    Two degrees of freedom;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/274/1/012009/pdf
DOI  :  10.1088/1757-899X/274/1/012009

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi-degree-of-freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.