Creation of a 3D kinematic model of the Delta manipulator using computer-aided design in NX

Creation of a 3D kinematic model of the Delta manipulator using computer-aided design in NX

Artem A. Voloshkin
Belgorod State Technological University named after V.G. Shukhov (BSTU named after V.G. Shukhov), Research Laboratory of Robotics and Control Systems, Research Engineer, 46, ul. Kostyukova, Belgorod, 308012, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Larisa A. Rybak
Doctor of Technical Sciences, BSTU named after V.G. Shukhov, Research Laboratory of Robotics and Control Systems, Professor, Head of Research Laboratory of Robotics and Control Systems, 46, ul. Kostyukova, Belgorod, 308012, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Valeria M. Skitova
BSTU named after V.G. Shukhov, Research Laboratory of Robotics and Control Systems, Research Engineer, 46, ul. Kostyukova, Belgorod, 308012, Russia

Anna V. Nozdracheva
PhD in Medical Sciences, BSTU named after V.G. Shukhov, Research Scientist, 46, ul. Kostyukova, Belgorod, 308012, Russia

Elena V. Gaponenko
PhD in Technical Sciences, Associate Professor, BSTU named after V.G. Shukhov, Senior Research Scientist, 46, ul. Kostyukova, Belgorod, 308012, Russia

Received September 8, 2022

Abstract
The article discusses the design of the Delta robot, which is part of a multirobotic system for aliquoting biological fluid. The purpose of the article is to obtain a dynamic model of the Delta manipulator using 3D modeling, which will allow studying the kinematic and dynamic characteristics of the manipulator for the specified parameters. A computer-aided design (CAD) system is used for modeling. The article presents an analytical calculation of the kinematic and dynamic parameters of the Delta manipulator in the RS structure, a solution to the inverse problem is presented. The process of creating a digital calculation model in the NX Nasrtan system is described. The preliminary calculation of kinematic and dynamic parameters made it possible to set parameters in the NX Nastran system to ensure the rotation of the drive shafts of the engines in accordance with the specified trajectory of the output link. For all parts of the manipulator, the center of mass is determined and the material is assigned. Motion simulation was carried out and dependences of changes in speeds, accelerations and movements of the manipulator links were obtained to implement the required trajectory of the mobile platform. This calculation allows you to build the trajectory of the output link with a given speed, setting the rotation of the drive links of the calculated model taking into account the forces of inertia.

Key words
Delta manipulator, spherical joint, drive links, design parameters of Delta, dynamic model of the Delta manipulator, moving platform, parallelogram mechanism, computer-aided design (CAD).

Acknowledgements
The work was supported by the state task of the Ministry of Science and Higher Education of the Russian Federation under the grant FZVN-2020-0017.

DOI
10.31776/RTCJ.11103

Bibliographic description
Voloshkin, A.E.  et al. (2023). MCreation of a 3D kinematic model of the Delta manipulator using computer-aided design in NX. Robotics and Technical Cybernetics, 11(1), pp.20-29.

UDC identifier:
62-883

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