چكيده به لاتين
Abstract:
In this thesis, the dynamic analysis and displacement control of the end actuator with suction tool in robotic arms in the field of agriculture has been discussed. This research is focused on the design and construction of a delta parallel robot in large and industrial dimensions, which can be used to perform various tasks in the field of agriculture. This three-degree-of-freedom parallel robot consists of a moving plate, to which the final actuator is attached, a fixed plate on which motors and gearboxes are located, and three arms that work in parallel. According to the robot mechanisms, the moving plane is always parallel to the fixed plane and has only translational movement. With the help of the electrical system of this robot, which includes servo motors, servo drives, PLC and Raspberry Pi board, it is possible to control the final executive.
In this thesis, the main concepts and introduction of the Delta robot are discussed at first. After that, the kinematic and dynamic analysis of the delta robot has been done, and the inverse and direct kinematic equations have been presented, and then the kinematic equations have been validated using the Adams software simulation. In the next step, the mechanical design of the Delta robot is examined. The exact dimensions of the robot, the material of the components, and the specifications of the motors and gearboxes are determined and the design is done using analytical solution and simulation methods.
Finally, the details of the robot's manufacturing process were discussed, and the preparation and installation of parts, assembly and detailed adjustment of arms and motors were explained. Also, the adjustment of servo motor parameters and electrical connections were investigated. In the following, the PLC and how to use it will be discussed. Also, the communication protocols between the PLC and the Raspberry Pi board are described, and at the end, the graphic user interface is designed and the image processing steps are discussed.
In the results of the practical tests, due to the use of servo motors, the accuracy of movements is very high and its error is less than one millimeter. The maximum reachable speed of the final driver is up to 2 meters per second and its carrying capacity reaches up to 4 kg. This research is a comprehensive effort to analyze, design and build an industrial Delta robot in the field of agriculture, and we hope that the results and findings can help improve agricultural processes.
