Research on the Residual Vibration Suppression of Delta Robots Based on the Dual-Modal Input Shaping Method

The Delta robot is a high-speed and high-precision parallel robot. When it in function, the end effector generates residual vibration, which reduces repeat positioning accuracy efficiency. input shaping method has previously been shown to suppress vibration of robot, but suppression effect single-modal shaper not good for delta multiple dominant modes vibration. To solve this problem, paper proposes an effective robots based on dual-modal technology. Firstly, modal analysis performed using finite element software, its determined. Secondly, six shapers are designed according obtained parameters. Finally, Simulink used simulation verify robustness performance traditional shapers. results show that ZVD-EI robustness, can effectively improve repetitive work efficiency when running at high speed.