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경량 델타로봇의 모델링 및 모션 제어
( Modeling and Motion-control for a Light-weight Delta Robot )
Abstract :
Delta robots are usually used for
industrial manufacturing, but heavy weight and expensive price have been
obstacles to rapid propagation of robots in the field. The goal of this
research is to make light-weight and price-competitive delta robots. To reduce
the weight, we used plastic material for the arm link, and to reduce the price,
we used a step-motor as the main actuator. First we formulated the equations of
inverse kinematics for the designed delta robot and then verified these
equations by using multibody-dynamics simulation. An algorithm of motion
control was developed and applied to the motion-processing unit using a
timer-interrupt of 8 milliseconds. Finally, we tested the performance of the
new delta robot by checking its control of motion along line segments.
