Yongjie Zhao
Parallel robot, three translational degrees of freedom, dynamic performance evaluation, maximum torque index, maximum power index
Performance evaluation of the parallel robot is a multicriteria problem. By taking the Delta robot as an object of study, this paper presents the dynamic performance evaluation of the three translational degrees of freedom parallel robot while considering the probable maximum torque and the probable maximum power of the actuating joint. The inverse dynamic model of the Delta robot is set up by means of the principle of virtual work and the concept of link Jacobian matrix. Based on the decoupled dynamic model, the maximum torque index and the maximum power index are proposed to evaluate the dynamic performance of the Delta robot when the maximum acceleration and the maximum velocity of the moving platform are assigned. The torque index combines the acceleration, the velocity and the gravity terms. With these torque and power indices, it is possible to evaluate or control the dynamic performance of the parallel robot in the diļ¬erent direction. Based on the indices, the dynamic characteristic evaluation of the Delta robot have been investigated in the simulation. The torque and power indices are general and can also be used for the dynamic performance evaluation of the parallel robot with three pure rotational degrees of freedom when the maximum angular acceleration and the maximum angular velocity of the moving platform are assigned based on the similarity principle.
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