直驱Delta机器人结构设计与优化研究OA

Aiming at the problems of easy wear of the traditional Delta robot reducer,the existence of rotary clearance and the ag-gravation of chattering during commutation,the outer rotor direct drive scheme was adopted.Firstly,combined with the configura-tion and trajectory requirements of Delta robot,an outer rotor permanent magnet synchronous motor with high torque and high pre-cision was designed,and the structure of the drive unit was redesigned to adapt to the external rotor scheme.Then,the stiffness and modal analysis of the Delta robot were carried out to determine the design parameters and optimization objectives of the di-rect-drive Delta robot.The Sobol'sensitivity analysis method was used to simplify the design parameters.The genetic algorithm and the response surface were used to optimize the high sensitivity parameters.Based on the determined design parameters,the moving platform material optimization was carried out.Finally,the motor control performance test and the robot load capacity and repeated positioning accuracy test were carried out to verify that the accuracy and output capacity of the designed direct drive scheme meet the application requirements of the Delta robot.The results show that the designed outer rotor direct drive motor has the advantages of high torque,high precision and good control performance.The results before and after optimization prove the ef-fectiveness of the cross-section parameter optimization method.