A Comparative Study of Inverse Dynamics based on Clavel’s Delta robot

Abstract

Based on Clavel's Delta robot, one of the best-known and most widely spread parallel robots, this paper illustrates the three fundamental approaches for dynamic modelling (i.e. the Principle of Virtual Work, the Newton-Euler Formulation, and the Lagrangian Formulation). In a direct comparison and using the same notation, the differences between the three modelling approaches are emphasized and demonstrated clearly. Complete and simplified models are introduced, validated and analyzed concerning their processing times as one of the key factors for real-time control.