Dynamics modeling and elastic error analysis of delta robot
                                                  CHEN Jun jie, LI Pan lei, HAN Wei, XU Yang jian, WANG Xiao gui
                           (School of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: Aiming at the problem of elastic deformation in Delta robot motion, the elastic dynamic model was established based on the finite element theory. According to characteristics of the structure, the components of the robot were divided into rigid parts and flexible parts, respectively, which consist of a rigid flexible coupling system. The motion relation of the parallelogram structure was fully considered, and the motion compatible matrix of each component was deduced. Then the elastic dynamic equation of the system was obtained, on which was based, the influence of the cross sectional dimension of Delta parallel robos rods on the elasticity error in motion was analyzed. The results indicate that the bending stiffness increases with the increase of the cross section size of the drive rod, elastic deformation of the robot can be reduced. And the self–weight increases with the increase of the cross section size of the driven rod, which makes the deformation greater.

Key words: delta robot; finite element method(FEM); elastic dynamics