Simplified dynamic model for real-time control of the delta parallel robot

摘要

In order for real-time dynamic control, it is critical to reduce the computing time of dynamic model to an acceptable level. In this paper, a simplified approach is presented for the dynamic model of the Delta parallel robot. Its dynamic model is first developed and the influence of each term is analyzed. Insignificant terms, which depend on both position and velocity, are identified and proposed to be neglected. A simplified dynamic model is then obtained to alleviate burden of the computation. Accuracy and efficiency of the simplified model are tested through computer simulation. The proposed approach model can be implemented to the practical application to meet the demand of the real-time control.