关键词: DELTA并联机器人, 拾放轨迹, 能耗指标, 轨迹参数优化

Abstract: To reduce the energy consumption of DELTA robot in high speed operations,the optimization research for high speed pick-and-place trajectories was conducted.The right angle transitions of Adept Cycle were smoothed with Lamé,Clothoid and piecewise polynomials for the planning of trajectories in 3D space.The interpolation points' positions,velocities and accelerations with respect to the one-dimensional incremental displacement along a pick-and-place curve were obtained based on Bang-bang,7th order polynomial and 6th order polynomial.The DELTA robot's kinematics and dynamics models were built to calculate the values of velocity and torque in joint motor space.To optimize the geometric parameters of nine trajectories,two energy-based indices were utilized,which included the input electrical power of servo motors and the robot's mechanical power.In the process of calculating energy consumption,an improved calculation method of robot energy consumption index was proposed by taking the regenerative energy problem of motor into consideration.The result had been verified on an experimental platform of DELTA robot,and the trajectory with minimum energy consumption had been found through the experimental data.A comparison study showed that the piecewise polynomial curve with Bang-bang motion profile was the optimal one with the repeatability of space and time in all nine kinds of trajectories.

Key words: DELTA parallel robot, pick-and-place trajectory, energy index, optimization to the parameters of trajectories