| A parallel robot is a new advanced technology, it draws the attention of scholars home and abroad. Parallel robot technologies have toward from theory to practical applications. Parallel manipulators are closed-loop mechanical structures and have serial advantages in terms of high stiffness, larger payload, high precision, load/weight ratio and good dynamic capability. It has been widely used in cosmetics, food and pharmaceutical packaging and electronics assembly or other fields. Lower mobility parallel robots are one of the hotspots in current study of mechanics of robots. The Delta parallel robot is the most typical three translation DOF parallel structure. The whole structure is simple and compact and the driving part is evenly distributed to base platform. The characteristics lead to good kinematics and dynamic identity. A number of experiments proved that the Delta robot is one of the most successful robots.Firstly, this paper describes the research status of robotics, and analyzes the research status and the main results of lowermobility parallel robots. Then, kinematics analysis of a 3-DOF Delta parallel robot is presented. Based on analyzing the structure of Delta robots, the Jacobian matrix is established and the inverse kinematics solution and direct kinematics solution are derived based on ADAMS software. At the same time, the spatial singularity shape and position are analyzed, and the solution of inverse dynamics equations is presented. Combined with the multi-body model of Delta parallel robots by using Pro/E, the model is transferred to ADAMS by MECHANISM/Pro, and simulations of kinematics and dynamics of Delta parallel manipulators are studied based on ADAMS, which have high significant in developing of high-performance of general-purpose robots based on the ADAMS software. |
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