Kinematics simulation of Delta parallel robot based on Pro/E and Simulink

HU Feng，LUO De-yuan， DUAN Dong-dong，FU Shu-ge
（School of Mechatronics Engineering， University of Electronic Science and Technology of
China， Chengdu 611731，China）

Abstract： Aiming at the problem that the motion of 3DOF parallel robot bears more constrains，compared to the traditional 6DOF parallel robot，the technology of visual kinematics simulation was investigated on 3DOF parallel robot. Taking 3DOF Delta parallel robot for example，it is hard to image its motion gesture directly，when it traces a complex track. In order to conveniently and rapidly achieve visual kinematics simulation of Delta parallel robot，combining with SimMechanics link，the method of modeling which translates CAD assemblies into SimMechanics model based on Pro/E and Simulink/SimMechanics was presented， the modeling of SimMechanics was established， and simulation of it was done. The experimental results show that it can directly get the kinetic characteristic of the Delta parallel robot and provide the reference parameters of the design.
Key words： Dalta parallel robot；Pro/E；Simulink；SimMechanics；kinematics simulation