Dynamic Performance Analysis of 3-Delta Type Parallel Robot

Qi-Sheng Zhang ； Rui-Qin Li ； Yin-Li Tian

《Proceedings of the 14th IFToMM World Congress》 14th-2 (2015/10) Pp. 56-60

https://doi.org/10.6567/IFToMM.14TH.WC.OS4.008

並列摘要

Based on the basis of the modal analysis theory, take Delta parallel robot as the research object, 3D solid model in a posture of the robot was established by some reasonable simplification according to equivalent rules. At the same time, modal analysis was carried out by ANSYS Workbench after the model was imported into the software. The first six natural frequencies and corresponding modes were acquired. At the base of modal analysis, the harmonic response analysis of the robot system was made, and the response curves of the three main motion orientations along X axis, Y axis and Z axis, respectively. Further research about the characteristic on harmonic response of the robot was discussed. The method to simplify the model is verified by the dynamic characteristics analysis of the robot system. And the vibration resistance performance of the Delta system is further tested, which can be reference to the structure improve, optimal design and dynamic design on the MRR system.

並列關鍵字

Delta ； Parallel Robot ； Modal Analysis ； Harmonic Response