Abstract
This article presents a construction prototype of a delta 4-DoF (Degree of Freedom) parallel robot. The structure of kinematic chain was described and the problem of inverse kinematic was formulated and solved. The author also proposed a concept of a control system. The dynamics of the control object were specified, a decision upon the controller and its settings was made, as well as simulation control studies of manipulator drive were conducted. The article contains a description of prepared applications and procedures as well as the research results of the manipulator.
Highlights
It is composed of four identical kinematic chains, four drives symmetrically arranged on the drives’ basis in relation to the vertical axis of robot base system, and a symmetrical moveable articulated platform
The sought value of the configuration coordinate qi for each robot arm under consideration equals:
Both size and shape of the operating space depends on the type of the robot mechanical was chosen for which it was possible to solve the problem of inverse kinematics
Summary
Par4 [23,24] is a parallel robot with four degrees of freedom that belongs to a group of manipulators with a special articulated construction of a moveable platform. It is composed of four identical kinematic chains, four drives symmetrically arranged on the drives’ basis (of rotary movement) in relation to the vertical axis of robot base system, and a symmetrical moveable articulated platform. Sensors 2021, 21, 7962 application of a telescope shaft, which is centrally located on the robot basis, in order to provide the fourth degree of freedom (rotation around a vertical axis).
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