Determining the Driving Torques of the Robots with Delta 3DOF Parallel Structure by Using the MSC ADAMS Software Pack

摘要

During the latest years the parallel structure robots have been used more and more due to their advantages that consist of: high stiffness, availability for usage at higher speed and acceleration rates. In general these robots are used for handling light objects [. For choosing the driving servomotors of the robots, the maximum torques needed for the parallel mechanism to transport an object of a certain weight, along a trajectory, at a certain speed and acceleration, have to be considered. In this work the authors are approaching the study of the variation of the driving torques of the robots with parallel structure Delta 3DOF along a trajectory, in order to select the driving servomotors [2]. For analyzing the driving torque variations along a trajectory the MSC Adams software pack has been used.