Mechatronic dynamics modeling and analyzing of a three degree-of-freedom high-speed parallel robot

Considering the torsional elasticity of connecting components, the dynamics characteristics of joint transmission module of Delta robot were studied in this paper. First, by taking mechanical load as disturbances, the decoupled mechatronic dynamics model of two-mass joint transmission module was established. Based on the decoupled dynamics model, the torsional vibration and velocity transmission error of the joint transmission module were analyzed. Then, taking Delta robot as an example, dynamics feedforward and disturbance observer were proposed to improve the accuracy and reduce the velocity transmission error of joint transmission system. Results show that the torsional vibration and transmission error of joint transmission module caused by the torsional elasticity of connecting components have important impacts on the dynamics performances of the Delta robot, which should be restrained in actual motion control.