The effect of delta-robot deformability on positioning accuracy

The paper considers a delta robot, its positioning accuracy determines its effectiveness. A study was conducted to find the delta robot static deformation at different positions and loads in order to improve its positioning accuracy. The SolidWorks software was used to create the delta robot simplified 3D model, on this basis its finite element model was built in the ANSYS environment. Taking into account the delta robot actual operating conditions, its finite element model was statically analyzed to determine the alteration pattern in its static deformation at various loads and positions. Based on the analysis results, it was found that the driven rod deformation was significantly impacting positioning accuracy of the delta robot actuator, and its most serious deformation appeared mainly in the middle and lower sections of the six driven arms and the moving platform. Study results could become the basis for design, structure optimization and development of approaches to reduce the delta robot positioning error.

References

[1] Wang Y.N., Xu Y.W., Liu X.W. et al. Simulation analysis and verification of elastic position error of delta robot. Manufacturing Automation, 2020, vol. 42, no. 10, pp. 41–45.

[2] Hu S.J., Wang Y., Yang Z.Y. Static and modal analysis for master arm of delta parallel robot based on ANSYS. Machinery Manufacturing and Automation, 2018, vol. 47, no. 5, pp. 181–183.

[3] Huang J.C. Course of parallel robot control technology and engineering project case. Peking, China Machine, 2018. 251 p.

[4] Zhang M.W., Yu Z.Z. Principles and applications of industrial robots. Harbin, Harbin Institute of Technology, 2018. 204 p.

[5] Gabutdinov N.R., Glazunov V.A., Dukhov A.V. et al. Surgical robots. Possibilities of sequential and parallel structure manipulators. Meditsina i vysokie tekhnologii [Medicine and High Technology], 2015, no. 1, pp. 45–50. (In Russ.).

[6] Glazunov V.A., Gavrilina L.V., Dukhov A.V. et al. Development of spherical parallel-structure robots for cavity operations. Meditsina i vysokie tekhnologii [Medicine and High Technology], 2017, no. 3, pp. 62–66. (In Russ.).

[7] Malyshev D.I. Razvitie metodov optimizatsii v reshenii zadach agaliza rabochego prostranstva i geometricheskikh parametrov mekhanizmov parallelnoy struktury. Diss. kand. tekh. nauk [Development of optimization methods in solving problems of analysis of working space and geometric parameters of parallel structure mechanisms. Kand. tech. sci. diss.]. Belgorod, IMASh RAN, 2021. 173 p. (In Russ.).

[8] Ai Q.L., Huang W.F., Zhang W.T. et al. Review of stiffness and statics analysis of parallel robots. Advances in Mechanics, 2012, vol. 42, no. 5, pr. 583–592, doi: https://doi.org/10.6052/1000-0992-11-073

[9] Lu G.D., Zhang A.M., Zhou J. et al. Static Analysis and examination research of 3-RSS/S parallel mechanism. Journal of Machine Design, 2013, vol. 30, no. 3, pp. 26–31.

[10] Huang Z., Zhao Y.S., Zhao T.S. Advanced spatial mechanism. Beijing, Higher Education Press, 2014. 397 p.

[11] Merlet J.-P. Parallel robots. Springer, 2006. 402 p.

[12] Clavel R. Conception d’un robot parall?le rapide ? 4 degr?s de libert?. PhD Thesis, Lausanne, Switzerland, EPFL, 1991. 146 p.

[13] Rueda J.D., Ángel L. Structural analysis of a delta-type Parallel Industrial Robot using flexible dynamic of ANSYS 11.0. 35th Annual Conf. of IEEE Industrial Electronics, 2009, pr. 2247–2252, doi: https://doi.org/10.1109/IECON.2009.5415370

[14] Liu G.J. Rigid body dynamics analysis of parallel robot. Xi’an, Northwestern Polytechnical University, 2019. 136 p.

[15] Xu Z.T., Liu Y.W., Chen X.G. et al. Parallel robots. Beijing, China Machine Press, 2021. 246 p.