@inproceedings{2c44753b08a14862932521fec0e3f081,
title = "Multibody Dynamics Modeling of Delta Robot with Experimental Validation",
abstract = "Delta robot is one of the most known parallel systems which possesses high stiffness and accuracy. In order to build a system that endows the robot to perform the desired tasks, an accurate and validate the dynamic model is required. In recent years, researchers have been focused on the construction of serial structured robots. However, few researchers tried to evolve the delta robots in such a system. In this work, the multibody system dynamics (MBS) approach is used to study the kinematics and dynamics of delta robots. A systematic approach is developed based on load assumption due to end-effector movements. The multibody model is constructed using Matlab Symbolic Toolbox. Moreover, D3S-800 is utilized in this study to validate the multibody model. The comparison of experimental data and numerical solution shows a very good agreement and consequently, the multibody model obtained is suitable for parameter identification, control and design optimization of a delta robot system.",
keywords = "Delta robot, Euler parameters, Matlab symbolic toolbox, Multibody system dynamics",
author = "Mohamed Elshami and Mohamed Shehata and Qingshun Bai and Xuezeng Zhao",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021 ; Conference date: 12-10-2021 Through 15-10-2021",
year = "2022",
doi = "10.1007/978-3-030-88751-3\_10",
language = "英语",
isbn = "9783030887506",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "94--102",
editor = "Mart{\'i}n Pucheta and Alberto Cardona and Sergio Preidikman and Rogelio Hecker",
booktitle = "Multibody Mechatronic Systems - MuSMe 2021",
address = "荷兰",
}