An Experiment Study and Analysis of Delta Robot Accuracy and Stability Improvement with Impact Testing

Abstract

Delta robots with parallel manipulators have become perfect industrial assembling and packaging tools. Kinematic stability is critical in the reliable execution of robotic motions. This research emphasizes the practical need for end-effector stability refinement and investigates the tuning needs for a stable motion of Delta robots in practical applications. The influencing factors of motion stability, including asymmetric stiffness, robot motion range, and PID controller parameters, are characterized. Based on the characterization results, a simplified procedure is proposed. A gradient-based control parameter modification achieves stability refinement. These parameters are further tuned based on the experiment results from the impact test. The experiment study and analysis results have validated the proposed procedure.