Shaking Force Balancing of the Delta Robot

The paper deals with the shaking force balancing of the DELTA robot. The balancing of the shaking force of the DELTA robot is carried out through the center of mass acceleration minimization. The trajectories of the total mass center of moving links are defined as straight lines between the initial and final positions of the platform. Then, the motion between these positions are parameterized with “bang-bang” motion profiles. Such a motion generation allows the reduction of the maximal value of the center of mass acceleration and, consequently, leads to the reduction in the shaking force. A main advantage of this method is its simplicity and versatility. It is carried out without any modification of mass redistribution of the initial robot structure, i.e. without adding counterweights. In the case of changing trajectories or payloads, it is just necessary to provide the initial and final positions of the platform, calculate the input parameters according to the proposed method and implemented them in the robot control system. Numerical simulations illustrate the efficiency of the suggested approach.