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Published in:
2021 | OriginalPaper | Chapter
Dynamic Pick and Place Trajectory of Delta Parallel Manipulator
Authors : Qiaohong Zu, Qinyi Liu, Jiangming Wu
Published in: Human Centered Computing
Publisher: Springer International Publishing
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Abstract
Based on the high-speed and stable demand of the dynamic pick-and-place of a Delta parallel manipulator in industrial production, a 5-3-5° multi-segment polynomial is used to design the speed laws of the joints of the manipulator, combined with the constraint of motion, the shortest period, and vibration control to construct a multi-target and multi-constrain. The nonlinear motion trajectory planning model is obtained, and the optimal solution of trajectory planning is obtained by using the optimized gravitational search algorithm. The results show that the speed and acceleration of the motion trajectory reach extreme values, and the motion trajectory is continuously smooth, meeting the expected planning requirements. The effectiveness of the motion trajectory model in shortening the operation cycle and the vibration of the control mechanism is verified, and the effectiveness of the optimized gravity search algorithm in the convergence control and global optimization is verified.