Kinematic Modelling and Application to Delta Robot

• Main Authors: Nikola Radakovic, 羅倪可
• Other Authors: Chi-Sheng Tsai
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/01246605939251280300

碩士 === 建國科技大學 === 自動化工程系暨機電光系統研究所 === 103 === History of robots dates back to Blaise Pascal who invented first machine able to digitally perform operations. In 1880, Herman Hollerith invented punch card unit record machine, system able to record and read data from punched cards. Whilst mentioned inventions were conceptual cornerstone of robotics, only in the last three decades we are able to say that robotics gives us advantage in comparison to manually operated machines. Robotics is a pure interdisciplinary science and should be treated as a part of System Integration. Automotive industry with its assembly line requirements continues to be the main robot consumer. Besides automotive industry, other sectors like for instance metal machining, health and semiconductor industry are interwoven with robotics. Robot is a high value added product so it is worth of development. Therefore, goal of this thesis is to develop fully operational rotary delta robot. Firstly, we elaborate kinematic model of the robot and then construct mechanical actuators thus producing a prototype of delta robot. For actuators we use LNC controller and HiWin provided motors and drives. Finally, delta robot is tested and the results confirm tight tolerances.