Modeling the Delta Robot Movement along a Specified Trajectory in order to Determine the Force Factors Acting on its Drives and Hinges

Improving the productivity of machinery and auxiliary equipment has long been one of the main directions for the world industry development. Efforts to gain fractions of a percent of the indicator require both the improvement of existing mechanisms and the introduction of faster manipulators, such as a delta robot. One of the key design tasks for such mechanisms is determining the required drive characteristics. The article presents a solution of the inverse kinematics problem for a delta robot. An algorithm for planning the movement of the working body for performing a typical operation of object permutations is described. The issues of modeling the movement of a robot in the computer-aided design system Autodesk Inventor are considered. The dynamic characteristics of the manipulator have been obtained, on the basis of which it is possible to select drives, bearings and kinematic pairs.

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