I.

Kinematics model the active joint, passive joint and the

position of point P (center of end-
effector) qa, qp and x in respectively.

q a 1 2 3 ; x x P zP ;
T T
yP
q p 1 2 3
T
3 1 2

We can know the kinematic equation

of the chain A:
uuuur uuuuur uuuuur uuuur uuur
OA1 A1A 2 A 2 A 3 A 3P OP (1)

Figure 1. Kinematic diagram of delta

R r L1 cos 1
robot xP cos A
L 2 cos 1 cos 1
L 2 sin 1 sin A ;
R r L1 cos 1
yP sin A (2)
L 2 cos 1 cos 1

L 2 sin 1 cos A ;
z P L1 sin 1 L 2 sin 1 cos 1;

II. Dynamic model

We apply Lagrange method for

Figure 2. Kinematic diagram of link multi-body dynamics system to
A solve dynamics. In that, we have:

First, Let an original coordinate s& C(s, s&&

M (s)& )s G (s) J sT (s)
(3)
system Oxyz of Delta robot be in the
fixed link of it as Fig.1(a). Delta with
robot is estimated by the three
s: ta suy rng y
similar parallel mechanism chain, so
we will analysis the kinematics M (s)
chain of link A and get a results : ma trn khi lng
similar for another link B and C.
C(s, s&)
Moreover, the exactly position of : ma trn qun tnh Coriolis
chain A will be determined by indep-
endent generalized coordinates of
G (s) Step 2 :Solve matrixs :
: ma trn do trng trng gy ra
J z (s), J a (s), J z 1 (s) , R(s) ,
J sT (s) &(s), M(s) ,C(s,s&) ,g(s)
x (t ) R
: ma trn Jacobian ca s
Step 3 :
Solve moment follow equation ( 4).
: vecto cc nhn t Lagrange

: veco momen dn ng

Equation (3) can be rewritten in an

impacted form:
&a C(s, s&&
&
M a (s)q )q a g a (s) a
(4)
Wit
h the following symbols:

E na
R (s)
J ( s ) J a ( s )
1
z

)
R T (s a

R (s)M (s)R (s) M a (s)

T

&(s, s&) R T (s)C(s , s&)R (s) C (s)

R T (s)M (s)R a
a
Figure 3. Solve diagram
R T (s)g (s) g a (s)
III. Analysis and results
s& R (s)q&a
&(s, s&& Our delta robot is modeled by an
s& R (s)q
& &a R
& )q a
initial parameters which are shown
in the table:
The schematic to calculate dynamics
delta robot is illustrated in fig 2 Length Radius Mass Angle
(m) (m) (kg) (rad)
The steps of solution according to L1 R m1 A 0
the number method: 0.45 0.225 1.66
Step 1: Solving inverse kinematics. L2 r m2 B
For x (t) and f (q, x) = 0. 0.85 0.085 2x0.35 2 / 3

x(t ), s&(t ),&

s&(t )
Find
 mB C Figure 4. Lagrange number
1.24 4 / 3 Momen of motor
25

20

Momen of active link (N.m)

15

From the initial condition of 10

parameters, we have results in Fig 5

Momen1
Momen2
0
4,5 and 6 Momen3
-5
0 0.2 0.4 0.6 0.8 1
time(s)
The trajectory of the moving table
Figure 5. Moment of motor
x P 0.3 0.3cos(2t)(m)
Driving Power
y P 0.3sin(2t)(m) 40

z P 0.7(m) 20

; Driving power(W) 0

Lagrange number
20
-20 N1
lamda1
N2
15 lamda2
-40 N3
10 lamda3
lamda4
lagrange lamda i (N)

5 -60
lamda5 0 0.2 0.4 0.6 0.8 1
0 time(s)
lamda6
-5 lamda7

-10 lamda8
lamda9
Figure 6. Driving Power
-15

-20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(s)