Delta并联机器人本体尺寸及结构参数优化设计研究.docx

Delta并联机器人本体尺寸及结构参数优化设计研究
摘要
本文主要对Delta并联机器人本体尺寸及结构参数进行了优化设计研究。首先，分析了Delta并联机器人的结构和工作原理，并对其关键参数进行了介绍。然后，通过数值模拟和实验验证，得出了Delta机器人的优化参数范围，包括机器人本体长度、宽度、高度以及连杆长度等关键参数。最后，本文总结了优化设计的效果，表明通过对Delta机器人本体尺寸和结构参数进行优化设计，可以显著提高机器人的运动性能和操作精度。
关键词：Delta并联机器人；尺寸优化；结构参数；运动性能
Introduction
Deltaparallelrobotsarewidelyusedinindustrialautomationandroboticassemblylinesduetotheirfastspeedandhighprecision.Themainadvantagesofthistypeofrobotareitshighrigidity,stabilityandprecision.However,thesizeandstructureparametersoftheDeltaparallelrobothaveasignificantimpactonitsmotionperformanceandcontrolaccuracy.Thus,itisimportanttooptimizethedesignoftherobot’sbodysizeandstructureparameters.
Inthispaper,wewillintroducethestructureandworkingprincipleofDeltaparallelrobots,anddiscussthekeyparametersoftherobot.Wewillthenconductnumericalsimulationsandexperimentalverificationstodeterminetheoptimalparametersoftherobot'sbodysizeandstructureparameters,includingthelength,width,heightandlinkagelength.Finally,wewillsummarizetheeffectivenessoftheoptimizationdesignandshowthatoptimizingthebodysizeandstructureparametersoftheDeltaparallelrobotcansignificantlyimproveitsmotionperformanceandoperatingaccuracy.
Deltaparallelrobotstructureandworkingprinciple
TheDeltaparallelrobotisatypeofparallelmanipulatorwiththreelegsthatcanmoveindependently,whichisknownasa“3-DOF”manipulator.Therobotbodyiscomposedofthreeverticalsupportstructuresandthreegroupsofarmsthatareconnectedtotheendeffector.Theendeffectorcanmoveinthreespatialdirections,controlledbythethreelegs.
TheworkingprincipleoftheDeltaparallelrobotisbasedontheuseofthreevariableanglearmstocontrolthepositionoftheendeffector.Thearmsarefixedtotheverticalsupportstructureandconnectedtotheendeffectorthroughballjoints.Thethreeanglesofthearmsareadjustedthroughthedrivesystemtocontrolthepositionoftheendeffector.Themovementoftheendeffectorisnotlimitedtothehorizontalplane,asitcanmoveinanydirectionwithintherobot'sworkingrange.
Deltaparallelrobotkeyparameters
ThesizeandstructureparametersoftheD