DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM
Апстракт
In the last few decades, alongside the development of serial industrial robots, parallel robots have attracted the attention of many industries and researchers. The DELTA robot is one of the most famous parallel kinematic robots. This paper presents the DELTA robot's complete kinematic modelling and simulation system development. The developed kinematic model includes the solution of the inverse and direct kinematic problem and the determination of the Jacobian matrix. Determining the robot's kinematic parameters in the iterative procedure enabled the analysis of the workspace and singular configurations. The kinematic model and both, the direct and inverse kinematic problems are included in the simulation model to realize the motion of the virtual (wireframe) robot. The virtual robot is developed in a MatLab environment. Using the direct kinematic problem, the positions of all actuated and non-actuated joints are calculated. The simulation system, besides others, includes two develope...d functions for G-code interpretation and Cartesian space linear interpolation. The developed simulation model can provide information about possible collisions of robot elements. In addition, the calculated joint coordinate vector provides information on whether all movements of the robot’s end-effector can be executed according to the joint limits and the given G-code program. Verification of the developed robot simulation system and kinematic model was performed through several examples of the end-effector movement according to the program generated in a CAD/CAM environment.
Кључне речи:
industrial robot / DELTA / kinematics / virtual model / simulationsИзвор:
39th International Conference on Production Engineering of Serbia, 2023, 16-23Издавач:
- University оf Novi Sad, Faculty оf Technical Sciences
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Momčilović, Bogdan AU - Slavković, Nikola PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/7070 AB - In the last few decades, alongside the development of serial industrial robots, parallel robots have attracted the attention of many industries and researchers. The DELTA robot is one of the most famous parallel kinematic robots. This paper presents the DELTA robot's complete kinematic modelling and simulation system development. The developed kinematic model includes the solution of the inverse and direct kinematic problem and the determination of the Jacobian matrix. Determining the robot's kinematic parameters in the iterative procedure enabled the analysis of the workspace and singular configurations. The kinematic model and both, the direct and inverse kinematic problems are included in the simulation model to realize the motion of the virtual (wireframe) robot. The virtual robot is developed in a MatLab environment. Using the direct kinematic problem, the positions of all actuated and non-actuated joints are calculated. The simulation system, besides others, includes two developed functions for G-code interpretation and Cartesian space linear interpolation. The developed simulation model can provide information about possible collisions of robot elements. In addition, the calculated joint coordinate vector provides information on whether all movements of the robot’s end-effector can be executed according to the joint limits and the given G-code program. Verification of the developed robot simulation system and kinematic model was performed through several examples of the end-effector movement according to the program generated in a CAD/CAM environment. PB - University оf Novi Sad, Faculty оf Technical Sciences C3 - 39th International Conference on Production Engineering of Serbia T1 - DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM EP - 23 SP - 16 UR - https://hdl.handle.net/21.15107/rcub_machinery_7070 ER -
@conference{ author = "Momčilović, Bogdan and Slavković, Nikola", year = "2023", abstract = "In the last few decades, alongside the development of serial industrial robots, parallel robots have attracted the attention of many industries and researchers. The DELTA robot is one of the most famous parallel kinematic robots. This paper presents the DELTA robot's complete kinematic modelling and simulation system development. The developed kinematic model includes the solution of the inverse and direct kinematic problem and the determination of the Jacobian matrix. Determining the robot's kinematic parameters in the iterative procedure enabled the analysis of the workspace and singular configurations. The kinematic model and both, the direct and inverse kinematic problems are included in the simulation model to realize the motion of the virtual (wireframe) robot. The virtual robot is developed in a MatLab environment. Using the direct kinematic problem, the positions of all actuated and non-actuated joints are calculated. The simulation system, besides others, includes two developed functions for G-code interpretation and Cartesian space linear interpolation. The developed simulation model can provide information about possible collisions of robot elements. In addition, the calculated joint coordinate vector provides information on whether all movements of the robot’s end-effector can be executed according to the joint limits and the given G-code program. Verification of the developed robot simulation system and kinematic model was performed through several examples of the end-effector movement according to the program generated in a CAD/CAM environment.", publisher = "University оf Novi Sad, Faculty оf Technical Sciences", journal = "39th International Conference on Production Engineering of Serbia", title = "DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM", pages = "23-16", url = "https://hdl.handle.net/21.15107/rcub_machinery_7070" }
Momčilović, B.,& Slavković, N.. (2023). DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM. in 39th International Conference on Production Engineering of Serbia University оf Novi Sad, Faculty оf Technical Sciences., 16-23. https://hdl.handle.net/21.15107/rcub_machinery_7070
Momčilović B, Slavković N. DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM. in 39th International Conference on Production Engineering of Serbia. 2023;:16-23. https://hdl.handle.net/21.15107/rcub_machinery_7070 .
Momčilović, Bogdan, Slavković, Nikola, "DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM" in 39th International Conference on Production Engineering of Serbia (2023):16-23, https://hdl.handle.net/21.15107/rcub_machinery_7070 .