Determining the Driving System for Robots with Delta 3 DOF Parallel Structure, Using SolidWorks

Abstract:

The robots which are composed of mechanisms with Delta 3 DOF parallel structure are increasingly used due to the advantages they poses such as high rigidity and that they can be used at high speed and acceleration. When the mechanical structure of the parallel robots with Delta 3 DOF structure is designed, a proper selection of the drive servomotors is imposed. The drive servomotors are chosen according to the values of the torque needed for the manipulated object to move in the workspace along a trajectory with a specific speed and acceleration. In this paper, the authors approach the study regarding the variation of the drive torques of parallel robots with Delta 3 DOF structure, when the manipulated object moves along a trajectory with imposed speed and acceleration, in order to choose the drive servomotors. In order to determine the value of the drive torque, SolidWorks software was used. From the results obtained by experimental means, it has been revealed that the usage of the software packages in the dynamic simulation of the mechanical assemblies determines the shorten of time, costs of projection, in comparison with practical testing which supposes the realization of the prototypes physically, expensive and time consuming process.

• Periodical: Applied Mechanics and Materials (Volumes 809-810)
• Pages: 1219-1224
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.809-810.1219
• Online since: November 2015
• Authors: Dragos Andrioaia*, Dan Rotar
• Keywords: Delta 3 DOF Parallel Structure, Driving System, SolidWorks, Torque

References

[1] R. Clavel, Device for the Movement and Positioning of an Element in Space, U.S. Patent 4, 976, 582 (1990).

[2] I. Bonev, Delta Parallel Robot, the Story of Success, 2008, available at http: /www. parallemic. org/Reviews/Review002. html, accessed: 11. 02. (2015).

[3] D.A. Andrioaia, D. Rotar, G. Puiu, Determining the Driving Torques of the Robots with Delta 3DOF Parallel Structure by Using the MSC ADAMS Software Pack, Applied Mechanics and Materials. 332 (2013) 224-228.

DOI: 10.4028/www.scientific.net/amm.332.224

[4] K.H. Chang, Motion Simulation and Mechanism Design with SolidWorks Motion 2009, SDC Publications, (2009).

[5] M. Gouasmi, M. Ouali, B. Fernini, M. Meghatria, Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink, International Journal of Advanced Robotic Systems. 9 (2012) 1-13.

DOI: 10.5772/50203

[6] A. Codourey, Dynamic modeling of parallel robots for computed-torque control implementation, International Journal of Robotics Research. 17 (1998) 1325-1336.

DOI: 10.1177/027836499801701205

[7] M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, first ed., John Wiley & Sons, Inc, New York, (2006).