Delta Robot Path Planning constrained by max torque and max forces in rods
Loading...
Loading...
868
views
Loading...
Uploaded by JensOverby on Sep 5, 2009
The robot moves at maximum speed and acceleration. Trajectory speed and acceleration are constrained by maximum allowable motor torques and forces in rods.
In this path planning demo, you can observe a considerable decrease in speed and acceleration in the upper left corner, where stiffness has its minimum.
A drawback of Parallel Robots is that they lose stiffness when approaching singular positions. In the singular position it is lost completely. For the Delta Robot, a singular position is where a rod of one parallelogram becomes parallel with a rod from another parallelogram.
4:55
3RRR parallel robot, inverse kinematicby user281001,858 views- 3:29
Delta Robot Powered by NI SoftMotionby AEGMexico4,228 views
- 3:17
AI Robot, A path finding robot simulated in Microsoft Robotics Studio, Fuzzy Logic algorithm.by Mrzizhou1,995 views
- 5:01
Interactive Large-scale Crowd Simulationby gammaunc5,008 views
- 1:31
SRSM7_4by scienculo872 views
- 2:40
Volksrobot 2.0. Arduino Delta Robotby JensOverby5,776 views
- 2:21
Delta Robot VarioDriveby Roelvandermark2,401 views
- 2:16
Epson Spider RS3 & SCARA G6 & anyfeederby scarafriend1,082 views
- 2:17
"Volksrobot" - everyman's Delta Robotby JensOverby27,882 views
- 2:05
Mini Delta Robot with background noise to verify actual speedby MimixMotion82,034 views
- 4:21
Four Lego Delta Robotsby theonlyshep138,914 views
- 1:48
EN | Beckhoff TwinCAT Kinematic Transformationby BeckhoffAutomation2,206 views
- 7:52
Lecture - Force Addition Using Law of Parallelogram | Trigonometrical Methodby jalam10013,215 views
- 2:05
Delta Robot Demonstrationby godfearincountry29,840 views
- 6:07
Delta Robot Optimum Path Planning by complete Dynamic Model, including stiffness of the structureby JensOverby3,428 views
- 1:37
Cable-Driven Parallel Robot IPAnema 2 at Automatica 2010by IPA3201,574 views
- 3:40
IPAnema -- a high dynamic parallel cable robotby IPA3205,083 views
- 2:22
Kawasaki YF03 1 12 09by wimrijlaarsdam3,577 views
- 2:29
vn parallel robotby nhcuonng586 views
- 4:00
Automated packaging of cookies featuring Bosch flow wrappers fed by delta robotsby BoschPackagingUSA6,265 views
Not any producers of Delta Robots that I know of actually have a dynamic model that also includes the stiffness of the structure. Parallel robots have the major drawback, that they loose stiffness when approaching singular positions. This is exactly what happens at the upper left corner of the rectangular path. At this spot, the maximum possible path acceleration is 3 times less than at the optimum stiffness position (the lower right corner).
JensOverby 2 years ago
Path is a "rectangle" with polynomial blend zones. Resulting path is 2nd order differentiable, which will make the transmission last longer than a couple of hours.
JensOverby 2 years ago
Directions and lengths of red lines indicate push/pull forces in each individual rod. White lines illustrate the torques required to manipulate the tool mass for each joint. Yellow lines illustrate the torques required to manipulate the masses/(moments of inertia) of the joints only. Dynamic model is fast and path planning can be done on the fly.
JensOverby 2 years ago