Model-based motion simulation of delta parallel robot

Abstract

For a parallel configuration of a robot manipulator, the solution of Forward Kinematics (FK) is tough compared to Inverse Kinematics (IK). This paper presents the model-based motion planning of a delta parallel robot in Simulink’s SimScape environment. A model was developed and simulated for motion study. The developed model has been simulated to solve the FK of the parallel manipulator and to check its efficacy. First, a helix curve has been planned within the reachable workspace. Then IK was solved to extract angular positions of the biceps. Obtained angular positions then fed to SimScape model to run a simulation. The path taken by the end effector of the system calculated by simulation is in good approximation to the planned helix path. Further, visual simulation and motion analysis of delta parallel robot can be performed by Model-based simulation and solves mechanical design as well control system design problems. Experimental study also shows that the circular path designed for experiment is well followed in real time simulation.