The mathematical model and direct kinematics solution analysis of Delta parallel robot

By analyzing the mechanism of Delta parallel robot and setting up coordinate system on both static platform and moving platform, then the constraint equation and Jacob matrix can be gained. Combined with the multi-body of Delta parallel robot built with Pro/E, and then the model is transferred to ADAMS by MECHANISM/Pro. The inverse solution and spline curves and spline function can be obtained through simulation at first, by using the result of spline curves and spline function can obtain the direct solution. This way is much easier, faster and accurately than the ways of numerical solution and analytical method. It is proved that the results can be put into practice.

I. Introduction

Delta parallel robot is a highly commercial used parallel robot which has a 3-DOF translational and high speed. It was put forward by Doctor Calve early in 1985 [1]. The parallel robot has many advantages, such as big loading ability, high precision, inverse solution easier, minor error, small deadweight load ratio, good dynamic performance, control easy. [2] [3] Proposed several ways of inverse problem solution. The ways of getting direct solution are Numerical Solution and Analytical Method, which are complex, but using the ADAMS software to get the forward solution and inverse solution is much easier. It will make any mistakes if the model of the robot is right [4] [5] [6] [7].