Inverse dynamics analysis of a Delta-type Parallel-kinematic Robot

摘要

This paper presents the formulation of the inverse kinematic and dynamics of Delta-type Parallel-kinematic Robot with three degrees of freedom. For inverse kinematic, the position and Jaconbian analyses are performed. In inverse dynamic analysis, the Lagrangian equations of the first type and kinematic parameters are used to derive the inverse dynamic equations due to the constraints of the Delta-type Parallel-kinematic Robot. The analytical results of the inverse dynamics equations have been presented. These analytical inverse dynamics equations will be used for real-time computed torque control in the future work.