Research of trajectory planning for Delta parallel robots

In order to improve the motion properties and increase the motion stability of Delta parallel robots, a trajectory planning algorithm based on modified trapezoid function is presented. Firstly, the problems of the trajectory planning method only employed on the displacement curve of robot are described. Then, the algorithm of planning the acceleration curve with modified trapezoid function is proposed, and the velocity and displacement curve of robot are optimized accordingly. Besides, the motor torques of robot may change smoothly during work hours, which can decrease the dash for the mechanical system of parallel robot. Finally, the contrastive simulation experiment results prove the validity of algorithm, which can increase the stability and reliability of the Delta parallel robot.