Abstract
Parallel robot is a new kind of robots, It has a serial advantages over serial robots in
terms of high stiffness, larger payload, high precision, load/wight ratio and good dynamic
capability, it has complementary relationship with serial robots which is widely used in
application, as a result, enlarge the whole application field. The Delta parallel robot is the
most typical three translation Dof parallel structure, the whole structure is simple and compact,
the driving part are evenly distributed to base platform, this characteristics lead to good
kinematic and dynamic identity, under experiment, the acceleration can reach to 5.0 times of
g(acceleration of gravity).A number of experiments proved that, the Delta robot is one of the
most successful robots since today. At present, the Delta robot is widely used in the packing
of cosmetic, food and medicine as well as assembly of electronic products.
The stepping motor is a open-loop control components that could be to transform the
electrical pulse signal into angular displacement or linear displacement. The stepping motor is
the power of Delta robot which is both simple and cheap, reliable and stable. It has instant
start, rapid stop, and high accuracy.
On the basis of inverse kinematics model, develops the computer control system based
on Windows using VC2008, The inverse solution space coordinates and Serial data
transceiver. Design and manufacture of Delta robot, Using the two-phase hybrid stepping
motor, using S3C6410 as the control core, The lower computer serial port to send and receive
data and Control of the mechanical motion.
Key word: Delta robot; Inverse solution of position; Stepping motor; S3C6410
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