Kinematic Analysis of Delta Parallel Robot: Simulation Study

Abstract

This work is focused on the kinematic analyses and simulation of the Delta parallel robot. Thisrobot is proposed in this study, which solves the forward kinematics by vector method. The half-angle formulais used to derive the inverse kinematics. The workspace of the Delta robot is presented dependent on thesolution of forward kinematics. This parallel robot model was built in Solidworks and then imported intoMATLAB/Simscape to do the simulation. The simulation represents the position and velocity of the movingplate, study the angular position and velocity of each joint.