Recursive modelling in dynamics of Delta parallel robot

Recursive matrix relations in kinematics and dynamics of a Delta parallel robot having three revolute actuators are established in this paper. The prototype of the manipulator is a three degrees-of-freedom space mechanism, which consists of a system of parallel closed kinematical chains connecting to the moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each robotʹs element. Further, the inverse dynamic problem is solved using an approach based on the fundamental principle of virtual work. Finally, a comparative study on time-history evolution of the torques of the three actuators is analysed.