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1、Delta(1Pro/E-ADAMSDeltaDelta1 DeltaDelta1968Kinematics and dynamics simulation of Delta parallel robotGONG Chi-kunXIONG Ji-guangHUANG Cheng-lin200093Delta”】DeltaPro/EADAMSFro/E ADAMSPro/EJ5O5O31 Delta2 Delta2.1 DeltaDelta20-XYZCAE. 1994-2013 China Academic Journal Electronic Publishing House. All ri
2、ghts reserved, OXO-XTZ O*Z Z1oxEPB总L, 0OBiBALi03OB,2Delta6iOXDeltaO-XYZH=XYZO -X YZOP, O-XYZPR呼rcosoi + xr sin a + v8= K 1=1.236a OEPR=L2a3OB=RRcosa/Csinrx0r cos ctrr sin ou0Px(ff+Li nnS) cosa(R + Li sin8) shio f y2 - z* (/? r)* +(/? r十”LiUi = -2 2(/C -厂)-JJx - y2 - Li -x2- /- z2-(/?-r)2 +(/?-rj 羽Vi
3、Li2z瓦 U, V,1=1,232K$ = 2aictaii(/)2.2 DeltaDeltad max =100 S2S3 =25 mmpick and-place25x305x25 mmSl=25mm S2=3O5mm6/hulx =100n/53 1994-2013 China Academic Journal Electronic Publishing House. All rights reserved, 25 mmpick and place X Y YZO-XYZZ=-S00mmX305mmZ25x305x25mm pick and-place5Matlab 1994-2013
4、 China Academic Journal Electronic Publishing House. All rights reserved, 1994-2013 China Academic Journal Electronic Publishing House. All rights reserved, YZO-XYZXadamstxt txt33.1DeltaProe/E.X_TADAMS633 Delta73.2 DeltaZ=-300mmO-XYZ25x305x25mmpick and-placeX=O.Y=O.Z=-SOOO-XYZZ25mm14 1994-2013 China
5、 Academic Journal Electronic Publishing House. All rights reserved, SessionS essi on ” user_name = wong ”Response Redirect(,/WebF onn2 aspx”)WEBPLCBSif (Session! user_namen!=wangu ) Response Redirect(M/WebF orml aspx) sql serverhashWEEIE10IM ciJL电机控制认i正系统Internet,2006(2):54-53.OMRONB/S.2010,8(2)184-
6、136MJ.10OMRONMJ.ASP NET009Visual C#JOMRONj 999 279-306SYSMAC CQM1HI/O,1998:73-121.MMJ.20037Delta4 S5m/s5m/sDelta9S.68 ml sS100 加/$motionDIJ，700wDelta34N.m24 85m/s84Nm95 63 皿700w2005(6):11-14Rey L,Clavel R,the Delta parallel robot,in Boer C R .Parallel kinematic machine theoretical aspects and industiial iequH ements,New York Sponger,1999 401417,.ADAMS20072009,Delta,20082005 1994-2013 China Academic Journal Electronic Publishing House. All rights reserved,