Application Value of Slider-Crank Mechanism in Pick-and-Place Operation of Delta Robot

Application Value of Slider-Crank Mechanism in Pick-and-Place Operation of Delta Robot

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By absorbing the advantages of the rotary-driven Delta robot and linear-driven Delta robot, a Delta robot for pick-and-place operation that forms a crank-slider at the drive joint is designed.To take the most common gate shaped curve in Cartesian space as the motion trail of robotic pick-and-place operation, according blue ford 8n to the kinematics inverse solution theory of Delta robot, this thesis mainly solves the output angular velocity of robot-driven joint.Establishing the static transfer mathematical model and solving the forced condition of driving joint.The simulation analysis show that after the upper slider-crank mechanism is connected to the driving joint, the angular velocity of the driving joint changes suddenly, which caused a rigid impact on the robot miken pro series 13 in the picking and releasing operation, though the force of the driving joint can be made smaller.