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

摘要：

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.

关键词： Delta parallel robot mathematical model ADAMS software simulation direct solution

作者: Jingjun Zhang Lihong Shi Ruizhen Gao Chaoyang Lian

作者单位: Scientific Research Office Hebei University of Engineering Handan,China Mechanical design and theory Hebei University of Engineering Hebei, P.R. China

会议类型: 国际会议

会议名称: 2009 2nd IEEE International Conference on Computer Science and Information Technology(第二届计算机科学与信息技术国际会议 ICCSIT2009)

会议地点: 北京

会议语种:英文

页码: 450-454

在线出版日期: 2009-08-08（万方平台首次上网日期，不代表论文的发表时间）