Modeling and simulation of the parallel robot's structure with LabVIEW™ instrumentation

Abstract

The paper describe one assisted method for modeling and simulation of the parallel robot's structure. Was developed one complex matrix method for the forward and inverse kinematics and for the animation of parallel robot's structure. In this paper are established the matrix relations of calculus for the kinematics model of robot, represented by multiple closed kinematics chains. With numerical simulation and experimental research using one didactical arm type robot was possible to validate the complex mathematical matrix model and was established the real value for the time acceleration, the real variation of the velocities, accelerations and compare them with the simulated values. Was animated the complex movements of the parallel closed robot's structure. The presented methodology and the virtual instrumentation for the animation of the parallel robot's structure is generally; it can be applied in all mechanical parallel structures.