Recently delta robots, a type of parallel systems, are gaining increasing attention
from researchers to investigate studies of its kinematics and dynamics. In recent years,
researchers have been focused on the parameter identi cation of a nonlinear mechanical system
to compute unmolded parameters. However, few researchers tried to evolve the delta robots
in such a system. In this contribution, we present a procedure for parameters estimation of
multibody system dynamics (MBS) of the delta robot system. Firstly, the multibody model
of the delta robot is formulated using Lagrange formulation. Then, the MATLAB Simscape
Toolbox is used to construct and veri ed the multibody model. Finally, a parameter estimation
tool is used to validate an estimated model by comparing the simulated model output with
measured data. The type of delta robot used in this study is D3S-800 and used for the multibody
model validation. The result dates are showed that the modeled system is validated, which
provides a reference for the dynamic optimal design of a delta robot system. |
