Mechanism Simulation and Experiment of 3-DOF Parallel Robot Based on MATLAB

摘要

This paper designed a kind of DELTA parallel robot to realize the seed sorting, which simplifies the FANUC(M-1iA) parallel robot in instance structure. SolidWorks is used to establish a 3d model and converts it into a SimMechanics model. After that simple movement simulation experiments is carried out to verify the correctness of the model. Five order polynomial curves are used in planning portal grabbing path. Based on the established simulation model, PID control algorithm is designed and tested, whose results can meet the precision of the design requirements. Based on the proceeding investigation, a seed-sorting comprehensive simulation experiment is designed; the seed-sorting and locating is completed and simulation results are verified. The robot hand for grasp and absorb is installed on FANUC (M-1iA) parallel robots. Sorting and locating experiment results is simulant to that of the simulation.