Kinematics Analysis of Delta Parallel Robot Based on Numerical Solutions Method

摘要

Kinematics analysis of parallel robot is very important to accurately grasp its working range and trajectory planning. The inverse kinematics solution is relatively simple, but the forward kinematics solution is generally more complicated. In this paper, a 3-DOF Delta parallel robot prototype is put forward and its kinematic model is established and analyzed. The solution process of the kinematics is completely derived by numerical method, and the constraint conditions are applied in MATLAB program to determine the unique solution. Finally, based on the forward kinematics solution model and Monte Carlo method, the working area is simulated by using MATLAB software. By comparing the parameters of the robot’s motion range, the rationality of the model is verified, laying the foundation for subsequent research on the robot’s motion trajectory and interference conditions under various working conditions.