Dynamics and Vibration Analysis of Delta Robot

摘要

This paper deals with the dynamics and vibration analysis of an industrial Delta robot when performing high-speed pick-and-place operations. The transitions between the vertical and the horizontal segments of the pick-and-place trajectories are smoothed using either Lam or cam curves. Using a simplified dynamics model of Delta robot, energy-based cost functions are defined and utilized to optimize Lam and CAM curve's geometric parameters. A complete multi-body dynamic model of Delta robot is established with SolidWorks, and then transferred to ADAMS for simulation purpose. These two types of trajectories are compared in terms of residual vibrations and tracking accuracy. The results obtained could lead to practical merits in engineering applications.