Simulation Modeling of Kinematic Structures of Parallel Mechanisms

The present study offers an in-depth examination of the current advancements and the prevailing state of parallel kinematic structures, with a particular emphasis on Delta robots. The central focus of this study is the design solution of the Delta robot model in the Pro/ENGINEER system. The study explores the design and strength calculation of the individual components of the Delta robot, in addition to determining its workspace. Parallel mechanisms are distinguished by their unique kinematic structure, which is embodied by a closed kinematic chain. The terminal effector of the mechanism is then connected to the base by multiple arms. This configuration offers distinct advantages, primarily in terms of enhanced rigidity and related properties. The direct kinematic problem is employed to derive the coordinates of the end effector from the known positions of the actuators. While this task is not essential for the robot's movement per se, it is used during initialization and calibration, when the positions of the actuators are known, and the position of the end effector must be determined to move it to a specific location. The inverse kinematic problem, on the other hand, plays a critical role in continuous calculations during movement, as it transforms the world coordinates of the end effector into joint coordinates. This task is essential for robot control, as it enables the calculation of the positions of the individual actuators, given the desired position of the end effector.