A Generalized Approach On Design And Control Methods Synthesis Of Delta Robot

This paper will describe the kinematics and dynamics of parallel robot named Delta with 3 degree of freedom (d.o.f). The use of dynamics coupled with kinematics for the control of parallel robot has been gaining increasing popularity in recent years. Relationship between generalized and articular velocities is established, hence jacobian and inverse jacobian analyses are determines. The inverse formulas are generally shown simply and the direct formulas are also described. Besides, this paper deal with the direct and inverse dynamics to determine the relations between the generalized accelerations, velocities, coordinates of the end-effector and the articular forces based on simulation and control. Parallel robots have become the important machines to manufacturing. They are used for various purposes in industry and life. The dynamic model of parallel robot with 3 dof is presented, and an adaptive control strategy for this robot is described. The robustness of the control system with respect to the nonlinear dynamic behavior and parameter uncertainties is investigated by computer simulation. Experiments were implemented to evaluate the responding of controlling system based on dynamics and kinematics controlling method for tracking desired trajectories. The results show that the use of the suitable control system based on dynamics model can provide the high performance of the robot.