Control laws of electric drives as a result of an in-depth kinematic analysis of the delta robot
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- Category: Information technologies, systems analysis and administration
- Last Updated on 11 March 2018
- Published on 11 March 2018
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Authors:
G.G. Diachenko, National Mining University,Doctoral Student of the Electric Drive Department, Dnipro, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it., orcid.org/0000-0001-9105-1951
O.O. Aziukovskyi, Candidate of Technical Sciences, Associate Professor, National Mining University,Professor of the Electric Drive Department, Dnipro, Ukraine, orcid.org/0000-0003-1901-4333
Abstract:
Purpose. To provide a simple and clear approach to kinematic analysis and motion computations useful to those who may wish to program and employ nice delta robots.
Methodology. A circle and sphere intersection model is used to describe positioning of the elements, which allows obtaining the analytical solution for the forward and inverse kinematics problem. For the verification of the proposed solution, the results were processed configuring the mechanical model of the kinematic system using SimMechanics Blocks in MATLAB/Simulink environment, which allows simulating various geometric configurations and reactions to mechanical stress and develop effective control strategies.
Findings. A mathematical expression describing the movement of the end-effector of the delta robot taking into account the mutual positioning of the elements of the kinematic system is obtained. A synthesis algorithm that is convenient for scaling and replication in automatic mode of operation is proposed.
Originality. For the first time, the solution was obtained that takes into account the mutual positioning of the elements and the parameters of the linear dimensions of the mechanism with the involvement of IT technologies and real equipment. The distinctive feature of the proposed solution is the adaptation to the control system of the electromechanical system.
Practical value. A parallel robot consisting of three arms connected to universal joints at the base is most effective when it is necessary to perform a quick displacement along a complex or simple trajectory while simultaneously changing the coordinates x, y and z. This fact makes the task actual to develop an algorithm for obtaining mathematical expressions for the simultaneous control of the electric motors of the delta robot. The obtained mathematical expressions for the inverse and forward kinematics problem are the first step in developing a control system that ensures the coordination and consistency of required displacements of all executive bodies in accordance with a specified program, which is understood as the set of requirements to ensure the implementation of the technological process.
References.
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2. Xuewen Yang, Zuren Feng, Chenyu Liu and Xiaodong Ren, 2014. A geometric method for kinematics of delta robot and its path tracking control. In:Proc. of IEEE 14th Int. Conf. on Control, Automation and Systems (ICCAS) [e-journal], pp. 509‒514. DOI: 10.1109/ICCAS. 2014.6988043.
3. Mahmoodi, M., Tabrizi, M. G., Alipour, K., 2015. A new approach for kinematics-based design of 3-RRR delta robotics with a specified workspace. In Proc. of IEEE AI & Robotics (IRANOPEN) [e-journal]. DOI: 10.1109/RIOS.2015.7270746.
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6. Hirano, J., Tanaka, D., Watanabe, T., Nakamura, T., 2014. Development of delta robot driven by pneumatic artificial muscles. In Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) [e-journal], pp. 1400‒1405. DOI: 10.1109/AIM.2014.6878278.
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