qbmove Delta robot
The object of this project is to analyze the advantages of variable stiffness for a Parallel Structure, in particular it has been considered a Delta Robot actuated with the qbmoves.
A model with Simulink was created to control of the position of the end-effector for Pick and Place operations and to vary the stiffness according to the paradigm of the safe brachystochrone in an appropriate way.
In particular, the picking and placing positions required high stiffness to achieve precision, on the other hand, while in the trajectory between these two positions the stiffness is decreased in order to decrease the dangerousness of a potential collision happening during the fast operations.
Installation guide and basic setup configuration - [coming soon]
License: license type