With the rapid increase of labor cost, more and more 3C assembly processes are being done by robots. Compared with human workers, robots are more suitable for repetitive, precise assembly tasks. The Delta robot, designed by Clavel, features fast motion. Hence ideal for pick and place of small pieces such as mobile screen, resistance, and so forth.

That being said, there are still problems in controlling the Delta robots with high precision and robustness. This thesis first studies the dynamic control of the Delta robot using POE formulation, yielding simple derivation of calculating the dynamics, hence effective in implementing dynamics control. However, the amount calculation is still too much for on board controllers.

Compared with the traditional Delta robot, which offers th...[ Read more ]

With the rapid increase of labor cost, more and more 3C assembly processes are being done by robots. Compared with human workers, robots are more suitable for repetitive, precise assembly tasks. The Delta robot, designed by Clavel, features fast motion. Hence ideal for pick and place of small pieces such as mobile screen, resistance, and so forth.

That being said, there are still problems in controlling the Delta robots with high precision and robustness. This thesis first studies the dynamic control of the Delta robot using POE formulation, yielding simple derivation of calculating the dynamics, hence effective in implementing dynamics control. However, the amount calculation is still too much for on board controllers.

Compared with the traditional Delta robot, which offers three prismatic DoFs, a rotation axis can be added to the robot, producing rotation along z-axis. Very often, the 4-th joint is so-called constant velocity joint. However, due to assembly error and other reasons, it fails to be absolute constant velocity joint. In order to control the rotation angle accurately, one has to find the error sources to eliminate the error. In the second part of the thesis, we preformed the error analysis of the 4-th joint. Experiments show that the error after improvement drops dramatically.