Trajectory Smoothing Planning of Delta Parallel Robot Combining Cartesian and Joint Space

Dachang Zhu (), Yonglong He, Xuezhe Yu and Fangyi Li ()
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Dachang Zhu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Yonglong He: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Xuezhe Yu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Fangyi Li: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China

Mathematics, 2023, vol. 11, issue 21, 1-16

Abstract: Delta parallel robots have been widely used in precision processing, handling, sorting, and the assembly of parts, and their high efficiency and motion stability are important indexes of their performance.Corners created by small line segments in trajectory planning cause abrupt changes in a tangential discontinuous trajectory, and the vibration and shock caused by such changes seriously affect the robot’s high-speed and high-precision performance. In this study, a trajectory-planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and microelement integration method were used to establish the complete kinematic and dynamic equations of a delta parallel robot, and an inverse kinematic/dynamic model-solving program was written based on the MATLAB software R2020a. Secondly, the end-effector trajectory of the delta parallel robot was planned in Cartesian space, and the data points and inverse control points of the end effector’s trajectory were obtained using the normalization method. Finally, the data points and control points were mapped to the joint space through the inverse kinematic equation, and the fifth-order B-spline curve was adopted for quadratic trajectory planning, which allowed the high-order continuous smoothing of the trajectory planning to be realized. The simulated and experimental results showed that the trajectory-smoothing performance in continuous high-order curvature changes could be improved with the proposed method. The peak trajectory tracking error was reduced by 10.53 % , 41.18 % , and 44.44 % , respectively, and the peak torque change of the three joints was reduced by 3.5 % , 11.6 % , and 1.6 % , respectively.

Keywords: delta parallel robot; kinematic and dynamic modelling; trajectory smoothing planning; combining Cartesian space with joint space (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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