Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
권호 표지
DOI QR코드

DOI QR Code

Modeling and Motion-control for a Light-weight Delta Robot

경량 델타로봇의 모델링 및 모션 제어

  • Kim, Seong-Il (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Hong, Jun-Ho (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Shin, Dongwon (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
  • 김성일 (금오공과 대학교 기계시스템공학과대학원) ;
  • 홍준호 (금오공과 대학교 기계시스템공학과대학원) ;
  • 신동원 (금오공과 대학교 기계시스템공학과)
  • Received : 2018.02.07
  • Accepted : 2018.04.02
  • Published : 2018.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

Delta robots are usually used for industrial manufacturing, but heavy weight and expensive price have been obstacles to rapid propagation of robots in the field. The goal of this research is to make light-weight and price-competitive delta robots. To reduce the weight, we used plastic material for the arm link, and to reduce the price, we used a step-motor as the main actuator. First we formulated the equations of inverse kinematics for the designed delta robot and then verified these equations by using multibody-dynamics simulation. An algorithm of motion control was developed and applied to the motion-processing unit using a timer-interrupt of 8 milliseconds. Finally, we tested the performance of the new delta robot by checking its control of motion along line segments.

Keywords

References

  1. Kim, B. H., Kang, H. J., Seo, J. H., "A Study on the Optimal Design of a Robotic Welding System for a High-strength Steel Amor Plate," Journal of the Korean Society of Manufacturing Process Engineers, Vol. 15, No. 5, pp. 31-38, 2016. https://doi.org/10.14775/ksmpe.2016.15.5.031
  2. Chu, S. U., Jeong, S. H., "Structural and Dynamic Characteristic Analysis of a Feeder for an Automatic Assembly System of an LED Convergent Lighting Module," Journal of the Korean Society of Manufacturing Process Engineers, Vol. 16, No. 1, pp. 124-133, 2017 https://doi.org/10.14775/ksmpe.2016.16.1.124
  3. Kim, H. S., "Dynamics Modeling and Control of a Delta High-speed Parallel Robot," Journal of the Korean Society of Manufacturing Process Engineers, Vol. 13, No. 5, pp. 90-97, 2014. https://doi.org/10.14775/ksmpe.2014.13.5.090
  4. Lee, J. D., "Study on the dynamic model of delta parallel robot with redundant actuation," A Thesis for a master's degree, Tongmyong University, Republic of Korea, 2013.
  5. Sternheim, F., "Computation of the direct and inverse kinematic models of the Delta 4 parallel robot," Robotersysteme, Vol. 3, No. 4, pp. 199- 203, 1987.
  6. Peter, V., Reymond, C., "Kinematic calibration of the parallel Delta robot," Robotica, Vol. 16, pp. 207-218, 1998. https://doi.org/10.1017/S0263574798000538
  7. Do, H. M., Kim, B. I., Park, C. H., Kyung, J. H., "Synchronization Error-based Control Approach for an Industrial High-speed Parallel Robot," The Korean Society of Manufacturing Technology Engineers, Vol. 25, No. 5, pp. 354-361, 2016. https://doi.org/10.7735/ksmte.2016.25.5.354
  8. Ha, S. M., "Development of a Parallel-kinematic Robot System for High-speed Applications," A Thesis for a master's degree, Kyungnam University, Republic of Korea, 2012.
  9. Laribi, M. A., Romdhane, L., Zeghloul, S., "Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace," Mechanism and Machine Theory, Vol. 42, No. 7, pp. 859-870, 2007. https://doi.org/10.1016/j.mechmachtheory.2006.06.012
  10. Liu, X. J., Wang. J., Zheng. H., "Workspace atlases for the computer aided design of the Delta robot", Proceedings of the Institution of Mechanical Engineers, Vol. 217, No.8, pp. 861-868, 2003.
  11. Robert, L. W. II., "The Delta Parallel Robot: Kinematics Solutions," A Thesis for a Doctorate, Ohio University, United States of America, 2016.