The Kinematic Analysis Of The Improved Delta Parallel Mechanism

The interest in parallel mechanism arises from the fact that they exhibit high stiffness in nearly all configurations and a high dynamic performance. The analysis of this type of mechanisms has been the focus of much recent research. Stewart presented his platform in 1965. Since then, several authors have proposed a large variety of designs and many of them have been used in science research and industry field.This paper is based on the research of Improved Delta parallel mechanism. firstly, it introduces the parallel mechanism's domestic and international research and application conditions, then elaborates the purpose and background of this paper. The following parts are mainly completed by the author.Applied the homogeneous transformation, inverse kinematics of the mechanism is calculated. Complicated math deducing is avoided and only simple homogeneous transformation rule and matrix operation is taken during solution. Compiled the inverse kinematics program under MATLAB environment.Analysis of Improved Delta parallel mechanism's kinematics performance, including workspace analysis, singularity analysis and dexterity analysis. In the analysis of the singularity, the author used vector algebra method and manipulability indices.This paper deals with an optimal dimensional synthesis method of the Delta parallel robot for a prescribed workspace. The objective function is based on the mathematical concept of the power of a point with respect to bounding constraint surfaces. A genetic algorithm based method was used to solve this problem. The proposed method is simple and was shown to be effective in finding the dimensions of the Delta robot having the smallest workspace containing a prespecified region in space. These dimensions were also determined in the case where the user defines a safety region, to avoid points in the prescribed workspace being on the boundary of the Delta robot's actual workspace.With virtual prototype software ADAMS, this paper parameterized and simulated the Improved Delta parallel mechanism. when analyzing the parameterized model, we only have to change the design variables and the prototype will be improved. In this paper, the author applied the functions such as point motion, spline function and measurement, which offer by the virtual prototype software ADAMS, to verify the inverse kinematics and the optimal dimensional synthesis method of the Delta parallel robot for a prescribed workspace.