The Study Of The Influence On Kinematic And Dynamic Performance Of Delta Parallel Manipulators Affected By Chain Layout

In the field of high speed and accuracy pick-and-place industrial production lines,commercial Delta parallel manipulators might be the most appropriate devices to meet this demands,which have been widely used in such fields as food packaging,medical equipments,electronic packaging,touching sensors.In the view of mechanism,when the composition of the chains and structural parameters are the same,there is a close relationship between the chain layout and the performance indicators of parallel manipulators.Supported by the National Natural Science Foundation of China,this paper studies the impact of chain layout on the performance of parallel manipulators.In this paper,the comparative analysis of kinematic performance,workspace,singularity and dynamic performance are obtained between spherical Delta parallel manipulators and its deformation or translational Delta parallel manipulators and its deformation.By using Creo,ADAMS and Matlab software,the CAD models,kinematic and dynamic simulation models and kinematic and dynamic theoretical program are established.By comparison the theoretical data with the simulation results,the validity of the kinematic and dynamic equation and the simulation models are confirmed.This study provide an effective method and date support for researching Delta-type reconfigurable parallel manipulators.The mothed described in this paper is not confined to models mentioned in the text,which can be applied to other types of parallel manipulators with different chain layout.The innovation of this paper are as follows:? The inverse position,velocity and acceleration equation of the four models are established by using the method of vector derivation.What's more,the simulation models are established by ADAMS and the validity of the kinematic equation and the simulation models are confirmed.? By analyzing theoretical and simulation results,the effect of chain layout to the performance of the Delta parallel manipulators are particularly studied with specific examples.? The 3D workspace of Delta parallel manipulator are established.What's more,the volume of reachable workspaces are calculated,which provides a feasible and simple method to analysis the workspace and singular position.? The derivation of equation about Delta parallel manipulators are built,which provided a feasible and accuracy way to avoid the singularity points in the programming.? Inverse dynamic equations of Delta parallel manipulators are formed.Moreover,taking the moving platform move according to the known route as an example,the force curves of driving member are drawn.The impact of chain layout on its dynamic performance are studied.