Speed Curve Planning and Human Machine Interface Development of a Delta Robot

• Main Authors: Guan, Yu-Syuan, 官郁軒
• Other Authors: Fuh, Chyun-Chau
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/b9t85a

碩士 === 國立臺灣海洋大學 === 機械與機電工程學系 === 106 === 　　This study first developed a Delta Robot animation simulation software using MATLAB. This software's friendly interface allows users to adjust key parameters and simulate them with animations. In addition to the equipment and components that can be purchased directly, the remaining parts are designed using SolidWorks drawing software. After confirming that the dimensions and movement conditions are correct, they are outsourced and assembled into a physical Delta Robot. In the control system part, a multi-axis motion control card is used to drive three servo motors so that the end effector can move smoothly in a trapezoidal or S-curve acceleration/deceleration mode in real time. 　　Next, we use Visual Studio developed by Microsoft to write a C# program and design a human-machine interface to control the motion of the Delta Robot. This human-machine interface can also display real-time information and motion status of the Delta Robot.