Geometric solution for direct kinematics of delta parallel robot

摘要

The closed-form direct kinematic solution of a general parallel robot has not been achieved yet. Currently the was widely used algebra equations based method has the drawbacks of complicated derivation process and multiple solution selection problem.A simplified kinematic model of 3 DOF Delta parallel robot has been proposed for the adoption of the spatial geometry and vector algebra method to solve the direct kine- matic problems.Compared with algebra equations based method,the method proposed has a concise and di- rect derivation process and the multiple solution selection problem has been avoided.The identical practical solution that fulfills the requirement of motion continuity can be directly obtained.