Delta机器人分拣平台的机构尺度综合与分析  

Dimension synthesis and analysis of Delta mechanism for robot sorting platform

作　　者：李亮 李思凡 王海芳 LI Liang;LI Sifan;WANG Haifang(College of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,Hebei,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,河北秦皇岛066004

出　　处：《中国工程机械学报》2021年第2期158-163,共6页Chinese Journal of Construction Machinery

基　　金：河北省自然科学基金资助项目(E2012407010)。

摘　　要：Delta机器人以其刚度大、精度高、速度快等优点在轻载分拣领域有着庞大的市场需求,其尺度综合是产品设计的重要环节。针对3自由度Delta机器人基于矢量法,建立了单支链运动约束方程,进而推导出其逆解、雅可比矩阵及可达工作空间边界的解析方程。为满足实验平台作业现场的分拣需求,以设计工作区域与可达工作空间边界的距离权值最小为优化目标,且为兼顾灵巧度等约束条件,基于惩罚函数法构建尺度综合的目标函数。结合算例采用遗传算法求解出最优的尺度参数,给出了该尺度参数下设计工作区域与可达工作空间的相对位置,并通过灵巧度性能分析给出了机器人在设计工作区域上、下表面的条件数分布情况。整体结果表明:基于该方法计算得出的机器人具有结构紧凑且运动学性能优良的特性。With the advantages of high stiffness,high precision and high speed,Delta robot has a huge market demand in the field of light load sorting.Its dimension synthesis is an important issue in the process of product design.Based on vector method,the motion constraint equation of single branch chain is established for 3-degree-of-freedom Delta robot,and the inverse solution,the Jacobian matrix and the analytical equation of the reachable workspace boundary are derived.In order to meet the sorting requirements of the specified work site,the optimization objective of minimize the distance weight between the design work area and the reachable workspace boundary.The constraints such as dexterity is taken into account,the objective function of dimension synthesis is established based on the penalty function method.Combined with an example,the genetic algorithm is used to solve the optimal scale parameters.The relative position between the design work area and the reachable workspace under the scale parameters is given.Through the analysis of dexterity performance,the condition number distribution of the robot on the upper and lower surface of the design work area is given.And the comprehensive results show that the robot calculated based on this method has the characteristics of compact structure and excellent kinematics performance.

关 键 词：Delta机器人 运动学性能 机构综合 

分 类 号：TH122[机械工程—机械设计及理论]