This paper deals with the dynamics and vibration analysis of an industrial Delta robot when performing high-speed pick-and-place operations. The transitions between the vertical and the horizontal segments of the pick-and-place trajectories are smoothed using either Lamé or cam curves. Using a simplified dynamics model of Delta robot, energy-based cost functions are defined and utilized to optimize Lamé and CAM curve's geometric parameters. A complete multi-body dynamic model of Delta robot is established with SolidWorks, and then transferred to ADAMS for simulation purpose. These two types of trajectories are compared in terms of residual vibrations and tracking accuracy. The results obtained could lead to practical merits in engineering applications. 1. Introduction Delta parallel robot is a highly-used commercial parallel robot which has 3-DOF translational motion with high-speed capability. It was invented by Clavel early in 1985[1].This parallel robot has many advantages, such as large loading ability, high precision, simple inverse kinematic solutions , minor error, small deadweight load ratio, good dynamic performance, control ease and so on[2][3].There were several ways proposedfor inverse problem solution. The ways of getting direct solution are either Numerical Solution or Analytical Method, which are complex, but using the ADAMS software to get the forward solution is much easier. It will not generate any errors if the model of the robot is correct [4, 5, 6, 7]. This paper aims to build up a Delta parallel Robot by mechanism of constrain Equations. In Sec. A, further introduction and the application of Lamé curves [8] in high speed PPO trajectories are presented. In Sec. B, complete Mechanism of Delta parallel Robot by using SolidWorks and ADAMS software are presented in Sec. C, procedure of get the solution by using ADAMS software and Lamé curve and CAM curve trajectoriesand Direct solutions are followed by Sec. D, the simulation of Lamé and CAM curves related with acceleration and movement of position are discussed in Sec. E, the trajectories generated are tested on a physical prototype of Delta robot and the experiment results verify the effectiveness of the optimized trajectory and vibration analysis are define in Sec. F. Finally, the conclusion and the future research are discussed in Sec. G. 2. Modeling of Delta Parallel Robot 2.1 The Mechanism Constraint Equation. Delta parallel robot is made up of one static platform, one moving platform, three driving rods and three driven mobile parallelograms branch chains (Fig.1 is its structure diagram).The three edges of the static platform have the same kinematic chain join to the moving platform. Each kinematic chain is a closed-loop parallelogram branch chain which is joined with two driven rods by four spherical hinge, this close-loop and one driving rodith rotation joint constitute a series mechanism, the driving rod is fixed to the static platform, the driving rod swing repeat by the drive of determined by these three kinematics chains. The moving p...
