CAJ | 학술논문

本研究基于Beckhoff的自动化平台，实现Delta并联机构轨迹规划的程序开发。首先对Delta并联机构进行分析和结构简化，求解了运动学逆解。针对并联机构运动学逆问题求解容易的特性及运动方面高速、平稳的需求，提出了在笛卡尔坐标空间采用正弦规律函数进行轨迹规划。然后借助Beckhoff工业自动化控制平台自带的电子凸轮和时间虚轴工具，将已确定的轨迹规划的在程序内部的进行实现。最后将开发的Delta并联机构轨迹规划的程序在公司自主研发的并联机器人上进行实机的应用测试，测试的数据结果表明轨迹规划在Beckhoff平台上实现方法的正确性及其性能满足Delta并联机构高速平稳的指标。
본연구기우Beckhoff적자동화평태，실현Delta병련궤구궤적규화적정서개발。수선대Delta병련궤구진행분석화결구간화，구해료운동학역해。침대병련궤구운동학역문제구해용역적특성급운동방면고속、평은적수구，제출료재적잡이좌표공간채용정현규률함수진행궤적규화。연후차조Beckhoff공업자동화공제평태자대적전자철륜화시간허축공구，장이학정적궤적규화적재정서내부적진행실현。최후장개발적Delta병련궤구궤적규화적정서재공사자주연발적병련궤기인상진행실궤적응용측시，측시적수거결과표명궤적규화재Beckhoff평태상실현방법적정학성급기성능만족Delta병련궤구고속평은적지표。
This research is to achieve the program development of Delta robot trajectory planning based on the Beckhoff automa-tion system.Firstly, the Delta parallel mechanism is analyzed and its structure is simplified, solving the inverse kinematics prob-lems. Then, considering its easy-to-achieve inverse kinematics and high-speed, steady motion requirements, a sinusoidal func-tion was applied to the design of the trajectory planning in Cartesian space and the determined trajectory was programed with tak-ing advantage of the electronic cam and virtual axis in the Beckhoff automation platform. Finally, the trajectory program was im-plemented and its experiments were run in the real Delta robot machine developed by our company to evaluate the design. The results showcase that the trajectory planning method adopted in this paper based on the Beckhoff system is actuate and reliable and its performance meets the requirements of high-speed and steady motion.