Dynamics Modeling of a Delta Robot with Telescopic Rod for Torque Feedforward Control

摘要

This paper presents dynamics modeling of a Delta robot with three revolute legs and a telescopic rod. Firstly, two generalized coordinate systems are established to describe the relationship between the movement of the telescopic rod and the position of the moving platform, and the telescopic rod system kinematics are established through singularity analysis. Secondly, taking the telescopic rod as the research object, the corresponding dynamics model is established using the Euler–Lagrange method. Moreover, this paper proposes a method to convert the force exerted by the telescopic rod motion on the moving platform into actuator torques. Thirdly, the dynamics model of the Delta robot with a telescopic rod is established, and numerical simulations are performed to demonstrate this approach. Finally, the influence of the telescopic rod on the actuator torques is verified using an experiment. A comparison is drawn between the two dynamics models used in torque feedforward control to validate the proposed dynamics model.