Dynamics modeling of a Delta-type parallel robot (ISR 2013)

This paper presents a simplified dynamics modeling and hardware implementation of a Delta-type parallel manipulator. Due to complex kinematics, the Lagrangian equations of the first type is employed to derive the inverse dynamic equations. Commercial Delta parallel robot can achieve more than 10m/s and 15g. Accuracy and fast calculation of dynamics are very essential typically in computed torque control of a Delta-type parallel manipulator for high speed applications. It is presented that the simplified dynamics equation matches very well with ADAMS modeling and the calculation time of the inverse kinematics and dynamics is less than 0.04msec.