Dynamics modeling of a Delta-type parallel robot (ISR 2013)

Park, Shi Baek; Kim, Han Sung; Song, Changyong; Kim, Kyung-Hwan

doi:10.1109/isr.2013.6695721

Cited by 9 publications

(3 citation statements)

References 2 publications

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“…For examining the controller performance using the developed model for the Delta robot mechanism, this research specifies a circular trajectory in the spatial workspace for the controlled movable platform to follow: 𝑥 = −0.01 𝑠𝑖𝑛( 4𝜋𝑡) 𝑦 = 0.01 𝑐𝑜𝑠( 4𝜋𝑡) 𝑧 = −0.1 + 0.01 𝑠𝑖𝑛( 2𝜋𝑡) (23) where 𝑡 denotes the time variable and 𝑥, 𝑦 and 𝑧 are centre coordinates (mm) of the movable platform. Conventionally, nonholonomic and holonomic constraints existing in system models elaborate designing their controllers and performing simulations.…”

Section: Model and Controller Verificationsmentioning

confidence: 99%

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Controller Design for a Delta Robot Using Lagrangian Multipliers

Lee¹,

Lin²

2021

Preprint

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The novelty of this research is that the study utilizes Lagrangian multipliers for an articulated close-chain robot mechanism as time-varying states to augment an energy-based Lagrangian dynamic model, and the strategy facilitates the system computations while satisfying the forward/inverse dynamics and mechanism constraints simultaneously for the close-chained robot. Then, this article develops a controller based upon the augmented dynamics model for the Delta robot mechanism and drives its moving platform to track prescribed trajectories in space. As a result, the simulation results validate the effectiveness of the augmented system model in undertaking complex dynamics of close-chained robot mechanisms.

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Section: Model and Controller Verificationsmentioning

confidence: 99%

“…Therefore, accuracy and fast dynamics calculation are essential in torque control for a Delta robot manipulator in high-speed applications. Hence, some researchers presented studies that simplified dynamics equation matches its dynamic behaviors very well with ADAMS modeling and simulations 23 .…”

mentioning

confidence: 99%

Controller Design for a Delta Robot Using Lagrangian Multipliers

Lee¹,

Lin²

2021

Preprint

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“…Without suspecting, the Delta robot establishes itself as one of the most successful parallel robot designs, with several hundred active robots worldwide. Generally, the design process of an industrial robot is determined by specific operation features called for by application needs [4] [5] .…”

Section: Introductionmentioning

confidence: 99%

Dynamic Conveyor Tracking Control of a Delta Robot

Zhang

Liu

Guo

et al. 2016

KEM

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For general dynamic pick and place tasks that the objects are transferred with high speed by the conveyor belt, the capability of a delta robot to track the traveling objects is very important for the efficiency. To meet the needs of precision and smooth control, a computed-torque control scheme for conveyor tracking is implemented in this paper. For higher efficiency and accuracy, computer vision system, encoder and conveyor belt region are incorporated into the control scheme. Dividing the conveyor belt into three regions, the robot is commanded to track, pick and give up according to the subregions. Conveyor belt is equipped with an encoder that provides the controller with real-time position and speed of the belt. Based upon those informations, the controller automatically compensates the end positions with respect to the belt to adjust for the position of the conveyor. Then, the conveyor tracking problem is converted to a subregional tracking problem.

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