Solution to the motion of a delta manipulator with three degrees of freedom

Based on the mechanical structure of a Delta manipulator with three degrees of freedom, the kinematic characteristics of the parallel manipulator were analyzed, and the vector relation between the static and moving platforms was given. The inverse kinematic function of the three-degree-of-freedom (3...

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Bibliographic Details
Published in:Ferroelectrics 2018-06, Vol.529 (1), p.159-167
Main Authors: Xiong, Wei, Chen, Zong-Tao, Wu, Hao, Xu, Gang, Ding, Tao, Mei, Hua-Ping, Li, Yu-mei
Format: Article
Language:English
Subjects:
ADAMS
Computer simulation
kinematic simulation
Kinematics
Parallel degrees of freedom
parallel manipulator
Pro/E
Prototypes
Three degrees of freedom
Virtual prototyping
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Summary:Based on the mechanical structure of a Delta manipulator with three degrees of freedom, the kinematic characteristics of the parallel manipulator were analyzed, and the vector relation between the static and moving platforms was given. The inverse kinematic function of the three-degree-of-freedom (3-DOF)parallel manipulator was deduced by the vector equation. The simulated forward kinematic solution in the moving platform was carried out by Pro/E modeling software and virtual prototype simulation software ADAMS, which is proved simple. These research contents provide a valuable reference for the adjustment and operation of 3-DOF Delta manipulator prototypes with respect to its dynamic performance, motion track planning, mechanical structure, system control, etc.
ISSN:0015-0193
1563-5112
DOI:10.1080/00150193.2018.1458534