Modelling and index analysis of a Delta-type mechanism

Abstract

A new type of three-dimensional parallel robot with a human interface as well as parallel motion control of a platform manipulator actuated by three a.c. servomotors is presented in this paper. The performance of this parallel robot is analysed using its forward and inverse kinematics. The analysis is performed using known quantified and graphical performance synthesis tools. Computer simulations of the parallel robot system have shown good correlation between physical interpretations and the results of using the theoretical analysis tools.