Kinematics Analysis of Delta Parallel Robot Based on Geometric Solution
To avoid the shortcomings of analytical and numerical method,according to the motion characteristics of parallelogram structure,simplify structure model of Delta parallel robot,establish 3 inertial coordinate systems,convert three branchesat different positions into the same state,and construct the forward and inverse kinematics low order equations of mechanism with the geometric method.According to the principle that the kinematic velocity along the direction of two end points of a rigid rod is equal,structure velocity mapping matrix (Jacobian matrix) of mechanism actuating input and endeffector output.Using Matlab software programming,the correctness of the algorithm is verified by an example.
NETL
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万方数据
维普
