Dynamic analysis of Clavel´s Delta parallel robot

Author

Carp-Ciocardia, D.C.

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

4116

Abstract

Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.

Keywords

inverse problems; manipulator dynamics; manipulator kinematics; matrix algebra; Clavels delta parallel robot; active couple moments; active couple powers; graph theory; inverse dynamic problem; iterative matrix relations; manipulator; platform position; recursive matrix; robot dynamic analysis; robot geometric analysis; robot kinematic analysis; spatial mechanism; three degree of freedom; translation motion; virtual powers method; Acceleration; Bars; Engines; Kinematics; Leg; Legged locomotion; Manipulator dynamics; Parallel robots; Prototypes; Tensile stress;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242230

Filename

1242230