Virtual reality simulation and singularity analysis of 3-RRR translational parallel robot

Abstract

In this paper we propose a global study of the spatial 3-RRR parallel robot Delta based on geometric parameters of robot, the graphical presentation of this famous model is in this article, and to definekinds of singularity for the direct and inverse kinematics model. Simulation of results are presented by the combination of graphical virtual environment and mechanical design tools; CAD and VRML; both are interconnected by the plate-form of the Matlab software, we finalize this work by a control GUI.