MATEC Web Conf.
Volume 153, 2018The 4th International Conference on Mechatronics and Mechanical Engineering (ICMME 2017)
|Number of page(s)||5|
|Section||Robot Design and Development Technology|
|Published online||26 February 2018|
Application Value of Slider-Crank Mechanism in Pick-and-Place Operation of Delta Robot
Guangzhou University, School of Mechanical and Electric Engineering, Guangzhou 510006 ;
2 Key Laboratory of High-Performance Metal Materials Reinforced Grinding Machining, Guangzhou 510006
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 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 in the picking and releasing operation, though the force of the driving joint can be made smaller.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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