چکیده مقاله
In this paper, the design of the Low Cost lightweight Delta robot has been investigated, that is a high speed, light load parallel robot It has the features of lightweight, small volume, fast speed, precise positioning and high efficiency In the first part a review of the robots classification from the point of view of structural topology expressed and the reasons for the development of parallel manipulator and their advantages are mentioned then the Delta robot mechanism and its main characteristics are introduced, in the second part revolute input delta robot RUU kinematics and inverse kinematics IPK solution expressed then the design of the control system of PC and motion controller areintroduced in detail Finally, the designed delta robot is presented and an example is provided to show the kinematic performance can be obtained, that is done by the PID control method, the robot controlled through three channels, and thus the robot end effector follows the desired path
کلیدواژهها
نویسندگان
Mostafa Barghandan
Ph D Student, University of Zanjan
Ali Akbar Pirmohamadi
Accosiate Professor, University of Zanjan
Narges Samanbakhsh
MSc student, University of Zanjan
شیوه ارجاع
Barghandan, Mostafa and Pirmohamadi, Ali Akbar and Samanbakhsh, Narges,1397,Design and Realization of Low-Cost lightweight Delta Robot,International Conference on Manufacturing Engineering,Tehran
ارائهشده در
مجموعه مقالات پانزدهمین کنفرانس ملی و چهارمین کنفرانس بین المللی مهندسی ساخت و تولید2 آبان 1397 · تهران