The new method of static modeling and simlink simulation for Delta parallel mechanism

Author

Wenjie Wang ; Lingtao Yu ; Baoyu Zhang ; Tao Wang ; Huajian Song ; Zhongping Zhuang

Author_Institution

Coll. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin, China

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

680

Lastpage

685

Abstract

Based on taking the gravity of every link into account and static analysis of every link, the complete and accurate static model of Delta parallel mechanism was set up. This model can precisely deduce the relationship between driving torque and the output force of moving platform at random poses. Then, a simulation model of Delta parallel mechanism was set up by using SimMechanics and Simulink blocks from Matlab. The simulation was carried out under the condition of different poses of moving plat and different output force acted on moving plat. Through the simulation, the validity of this static model was verified adequately.

Keywords

control engineering computing; force control; manipulators; torque control; Delta parallel mechanism; Matlab; SimMechanics; Simulink blocks; driving torque; output force; static modeling; Analytical models; Equations; Gravity; Mathematical model; Torque; Vectors; Delta; Simulink/SimMechanics simulation; parallel mechanism; static modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885779

Filename

6885779