Abstract
ABSTRACTBased on the mechanical structure of a Delta manipulator with three degrees of freedom, the kinematic characteristics of the parallel manipulator were analyzed, and the vector relation between the static and moving platforms was given. The inverse kinematic function of the three-degree-of-freedom (3-DOF)parallel manipulator was deduced by the vector equation. The simulated forward kinematic solution in the moving platform was carried out by Pro/E modeling software and virtual prototype simulation software ADAMS, which is proved simple. These research contents provide a valuable reference for the adjustment and operation of 3-DOF Delta manipulator prototypes with respect to its dynamic performance, motion track planning, mechanical structure, system control, etc.
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