期刊名称：International Journal of Mechatronics, Electrical and Computer Technology
印刷版ISSN：2305-0543
出版年度：2016
卷号：6
期号：21
页码：2951-2960
出版社：Austrian E-Journals of Universal Scientific Organization
摘要：This work is focused on the inverse kinematics (IK) modeling, control and implementation of a 3DOF translational manipulator which is a modified version of the popular Delta robot. In order to distinguish this Delta robot with other existing ones, in this paper, it is tentatively named asMacDelta. MacDelta has a fixed base at top and a moving platform at bottom, connected with 3 identical arms. Each arm is configured with a revolute joint (namely the rotational motor, attached to the fixed base), another revolute joint (attached to center of the top side of the parallelogram four-bar mechanism), a parallelogram four-bar mechanism, and a third revolute joint which connects the center of the bottom side of the four-bar mechanism and the moving platform. The analytic solution is derived in details based on the spatial closed-loop vector method. The IK model is programmable and applied in MacDelta.
