The Design and Implementation of Spherical Motion based on Inverse Kinematics on a Parallel Delta Robot

  • 楊 盛安

Student thesis: Master's Thesis


The robot arms which are used in industry can generally be separated into two kinds: serial robot and parallel robot Compared with serial robots parallel robots have advantages in high precision high stiffness high load high speed and low inertia Although the workspace of parallel robots has more limitation it is not a big problem in precision processing due to the small size of processing goods Researchers try different kinds of structure for proper applications after the invention of earliest parallel robot - Stewart platform DIY or Being a Maker has become more and more popular in recent year Due to that many types of robots emerge to our sight Delta robot is one of the common types and has been widely used in many places Users can choose different DOF (degree of freedom) and different end-effector they need to fit their requirement such as robot arms 3D printing painting surface inspection etc Due to the restriction on it structure most of the common used delta robots’ end-effector (moving platform) can only move parallel to the fix platform (base) If we want end-effector to do more DOF movement or spherical motion we need to combine more motors and joints This will lead to higher manufacture cost and complex kinematics analysis How to design a new structure which can do spherical motion with the same or only a little higher cost is the question we wondering about This thesis is based on delta 3D printer and we redesign the moving platform link sticks and new inverse kinematics analysis to make the end-effector side can do spherical motion with the same number of motors It can be used on ball-like surface inspection or machining In the final we use Matlab to do the virtual test and use laser point with image processing to analysis the error
Date of Award2015 Sep 10
Original languageEnglish
SupervisorChung-Ping Young (Supervisor)

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