Motion Control and Analysis of Delta-type a Parallel Robot

Parallel robots have natural advantages for many applications thanks to their high rigidity, accuracy, low inertia of the moving parts and lightness, etc. The goal this study has performed motion control, kinematical, workspace analyses a Delta-type parallel robot with 3 degrees freedom (3-DOF). actual parameter values were used in control analyses. Forward inverse kinematics analysis, as well analysis robot, carried out. In addition, is actualized Cartesian space. order delta-type zero oscillation robust structure against external disturbances, Sliding Mode Control (SMC) method was preferred. As result, kinematics, realized examined.