Delta robot is one of the most known parallel systems which
possesses high stiffness and accuracy. In order to build a system that
endows the robot to perform the desired tasks, an accurate and validate
the dynamic model is required. In recent years, researchers have
been focused on the construction of serial structured robots. However,
few researchers tried to evolve the delta robots in such a system. In this
work, the multibody system dynamics (MBS) approach is used to study
the kinematics and dynamics of delta robots. A systematic approach is
developed based on load assumption due to end-effector movements. The
multibody model is constructed using Matlab Symbolic Toolbox. Moreover,
D3S-800 is utilized in this study to validate the multibody model.
The comparison of experimental data and numerical solution shows a
very good agreement and consequently, the multibody model obtained
is suitable for parameter identification, control and design optimization
of a delta robot system. |
