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Design, Modeling and Control of a Delta Robot in Fine Machining Application

Malekzadeh, Saeed | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 48309 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Salarieh, Hassan; Selk Ghafari, Ali
  7. Abstract:
  8. In recent years, industrial robots have been greatly used as orienting devices in industry, especially in the automotive, shipbuilding and aerospace manufacturing industries. Industrial robots are gradually finding their niche in manufacturing, replacing less universal and more expensive CNC-machines. Application area of robots is constantly growing; they begin to be used for the assembly, pick-and-place operations, machining operations and etc. The use of robots for machining operations is growing because of their flexibility to perform a broad spectrum of tasks at a lower cost when compared with machine tools. Recently, parallel robots have attracted more and more researchers’ attention in terms of industrial applications, especially in the field of machine tools, for their relative advantages, e.g., high stiffness, high accuracy, low moving inertia, and so on. The Delta robot is such a parallel robot that is built using parallelogram mechanisms and the moving platform has three translational and one rotational DOF with respect to the base.At first chapter we try to review Delta robot briefly. In chapter 2, by attention to our goals, Structure Design is done. After that in chapter 3, kinematical analysis of linear DELTA robot will be studied and finally find direct and inverse kinematic equations. For validating these equations, we use simulation result that get from DMU software. In the next chapter, dynamic model is obtained and for validation of dynamics equations, we use simulation result that is got from ADAMS software. In chapter 5 and in last step in our design, we use prior result for design control system. In chapter 5, we review our Delta robot fabrication. Finally in the last chapter, conclusion and future work will be mentioned
  9. Keywords:
  10. Parallel Robot ; Kinematics Design ; Control System ; Industrial Robots ; DELTA Robot ; Dynamical Design

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