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

Abstract

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.