Parallel robot is a new kind of robots, It has a serial advantages over serial robots in terms of high stiffness, larger payload, high precision, load/wight ratio and good dynamic capability, it has complementary relationship with serial robots which is widely used in application, as a result, enlarge the whole application field. The Delta parallel robot is the most typical three translation Dof parallel structure, the whole structure is simple and compact, the driving part are evenly distributed to base platform, this characteristics lead to good kinematic and dynamic identity, under experiment, the acceleration can reach to 5,0 times of g(?)(acceleration of gravity). A number of experiments proved that, the Delta robot is one of the most successful robots since today. At present, the Delta robot is widely used in the packing of cosmetic, food and medicine as well as assembly of electronic products.Kinematics is the base of dynamic, control and layout for robot; it is of great importance in the research of robot. The kinematic research includes forward kinematics and inverse kinematics. For parallel robot, the inverse is relatively simple and the forward is complex. In this paper, by analyzing the configuration of Delta parallel robot, establishes a mathematical model, the kinematic equation of 3-dof delta parallel robot is set up based on the relation of the vector between the moving platform and the base platform. Depend on this equation; the formulation of inverse solution and the numerical solution of direct solution are obtained. On the basis of inverse position, a method of workspace is put forward. The Jacobin matrix is obtained and its velocity and acceleration analysis are given too.Finally, on the basis of inverse kinematics model, develops the kinematics simulation system based on Windows using VC++ and OpenGL. In the situation of the VC++, it needs to invoke the figure function from the OpenGL function Library for establishing the three-dimensional model. Based on the trail planning of space line and plane arc, by calling the double buffer animation function and matrix transformation function etc, three-dimensional simulation in different parameters can be achieved, also make the complex movement of the space structure more directly. Establish the simulation system, which is an effective tool for improving designing efficiency and testing the whole movement course of the Delta parallel robot. |