A Method for obtaining direct and inverse pose solutions to Delta parallel robot based on ADAMS

摘要

A way to get both normal and inverse pose solutions to Delta parallel robot are presented in this paper. The model of Delta parallel robot is built with Pro/E, and then the model is transferred to ADAMS by MECHANISM/Pro. Firstly, by adding single-point driving then the position and the motion of the moving platform and the rotate angle of the three moving rods are known, an inverse dynamics problem is solved. Secondly, the results of the simulation of the spline curves of the rotate angle of the three moving rods can be added to the rods, a direct solution problem is solved then. It is shown that this approach is a much easier, faster and accurately than the ways of Numerical Solution and Analytical Method.