شماره ركورد كنفرانس :
4863
عنوان مقاله :
Design and Realization of Low-Cost lightweight Delta Robot
پديدآورندگان :
Barghandan Mostafa University of Zanjan , Pirmohamadi Ali Akbar University of Zanjan , Samanbakhsh Narges University of Zanjan
تعداد صفحه :
4
كليدواژه :
parallel manipulator , Delta , Tsai manipulator , kinematics diagram , IPK
سال انتشار :
1397
عنوان كنفرانس :
پانزدهمين همايش ملي و چهارمين كنفرانس بين المللي ساخت و توليد ايران
زبان مدرك :
انگليسي
چكيده فارسي :
In this paper, the design of the Low-Cost lightweight Delta robot has been investigated, that is a high-speed, light-load parallel robot. It has the features of lightweight, small volume, fast speed, precise positioning and high efficiency. In the first part a review of the robots classification from the point of view of structural topology expressed and the reasons for the development of parallel manipulator and their advantages are mentioned then the Delta robot mechanism and its main characteristics are introduced, in the second part revolute-input delta robot (RUU) kinematics and inverse kinematics (IPK) solution expressed then the design of the control system of PC and motion controller are introduced in detail. Finally, the designed delta robot is presented and an example is provided to show the kinematic performance can be obtained, that is done by the PID control method, the robot controlled through three channels, and thus the robot end-effector follows the desired path.
كشور :
ايران
لينک به اين مدرک :
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