Analysis On Dynamics And Simulation Of Delta Parallel Robot Manipulator Based On Screw Theory

The parallel robot has the advantages of high speed and high bearing capacity.The one of the key technologies of it to the application is realizing the high precision control of mechanical arm.The dynamic analysis of the robot control can provide a theoretical basis.The dynamic modeling of parallel robot manipulator is quite complex,and the efficiency can be effectively improved by choosing the appropriate modeling method.In this paper,the research object is the Delta parallel robot manipulator,mainly analysis the kinematics of parallel robot manipulator and singular position combining the screw theory,and then builds the dynamics relations based on the Kane's equation,calculates the parallel robot manipulator driving force and inertial force,finally build the dynamics simulation model and make experiments analysis of parallel robot manipulator.The main research contents are as follows:1,Kinematics analysis:Build the 3D model of the Delta parallel manipulator,and build its kinematics relations based on screw theory and analyze its motion and position.The kinematics equation of the Delta parallel robot manipulator is examined by using the screw theory.2,Jacobian matrix and singular analysis:Constructs Jacobian matrix of the Delta parallel robot manipulator,analyzes its singular location,and calculates the range of a certain angle of the working space;uses exponential product and screw motion separately to calculate the Jacobian matrix of Delta parallel robot manipulator,and the matrix of the two methods is verified by the geometric analysis method.3,Dynamic analysis:Constructs the dynamic model of the Delta parallel robot manipulator combining the screw theory and Kane equation.The speed and acceleration of each joint are calculated;generalized active force of every joint and generalized inertial force are calculated based on the Kane dynamics equation method.Finally we can get the dynamics relations of the Delta parallel robot.4,Dynamic simulation based on RecurDyn:The dynamic simulation of Delta parallel robot manipulator is based on RecurDyn software,and the stress of each joint is obtained at runtime,and the grasping action(Pick-and-place)of robot is emulated.Then each joint position,velocity and acceleration are analyzed at every time.And experiments of grasping motion path is also gotten in the experimental prototype.Finally make a comparison of the experimental data and the theoretical data is calculated in this paper,the correctness of the modeling is verified.We can easily establish the dynamic equation of Delta parallel robot based on screw theory and Kane equation also can simulate the working state of the set by using MATLAB and RecurDyn software.That has guiding significance for future research on the dynamics of Delta parallel robot.