Lightweight Delta robot is typical high-speed and high-precision industrial parallel robot. However, under high-speed condition, because of the lightweight components, it will inevitably lead to the vibration of Delta robot, which reduces the position accuracy and positioning efficiency. To solve this problem comprehensively, this article considers the process vibration and residual vibration of Delta robot, and the intelligent shaping vibration suppression control system is designed by using trajectory planning method of improved trapezoidal mode, shaping control method, and fast terminal sliding mode controller, and the detailed experimental analysis is carried out. The experimental results show that the proposed intelligent shaping vibration suppression control method can well suppress the process vibration and residual vibration of Delta robot, which can effectively improve the operation stability, work efficiency, and position accuracy of Delta robot.

轻型Delta机器人是典型的高速高精度工业并联机器人。但是，在高速条件下，由于零部件的轻量化，不可避免地会导致台达机器人出现振动，从而降低定位精度和定位效率。针对这一问题，本文综合考虑Delta机器人的过程振动和残余振动，采用改进梯形模态轨迹规划方法、整形控制方法和快速终端滑模控制器设计智能整形抑振控制系统，并进行了详细的实验分析。实验结果表明，所提出的智能整形抑振控制方法能够很好地抑制Delta机器人的过程振动和残余振动，