This article presents a construction prototype of a delta 4-DoF (Degree of Freedom) parallel robot. The structure of kinematic chain was described and the problem of inverse kinematic was formulated and solved. The author also proposed a concept of a control system. The dynamics of the control object were specified, a decision upon the controller and its settings was made, as well as simulation control studies of manipulator drive were conducted. The article contains a description of prepared applications and procedures as well as the research results of the manipulator.
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| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC8659855 | PMC |
| http://dx.doi.org/10.3390/s21237962 | DOI Listing |
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