Dynamic Analysis and Driving Parameter Matching of Spatial Parallel Robots
Delta parallel robots are key equipment in advanced manufacturing,but their linkage mechanisms ex-hibit prominent dynamic issues under high-beat operation,which greatly affects the stability and precision of the robot system.In this paper,a spatial 3-DOF Delta parallel robot is developed,and the finite element model of its linkage mechanism is established,which is introduced into the multi-body dynamics model to construct a virtual prototype with a rigid-flexible coupling structure.The trajectory based on the modified trapezoidal acceleration curve law is substituted into the model to solve,and the dynamic response and terminal residual vibration of the robot system are obtained.The simulation analysis shows that the vibration of the moving platform caused by the elastic factor of the linkage mechanism is most obvious along the horizontal running direction of the moving plat-form.Under the condition of the same running beat distance and time,the running direction of the moving plat-form will affect the position error caused by the elastic vibration of the connecting rod.The laser tracker is used to measure the residual vibration of the robot after running in different trajectories.The feasibility of selecting the running direction and the correctness of the model are verified by comparison,to minimize the residual vibration amplitude after the moving platform reaches the target point,the driving parameters such as joint angular velocity,torque,and power are optimized and matched.This paper's research work can provide a theoretical basis for vibra-tion suppression and precision forward design of the parallel robot.
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