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In this chapter, the inverse dynamics model of a delta-type parallel robot is introduced with the goal of relating the dynamic behavior of the torque with the dynamic behavior of the position, velocity, and acceleration. Results obtained from the programming of this inverse dynamics model of the delta-type parallel robot are compared for two kinds of simulation software (Simulink and Working Model) with the goal to reach its validation.

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Inverse Dynamics Model of a Delta-Type Parallel Robot

  • 章节

  • 发表日期：

    2025年

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  • Jose de Jesus Rubio,
  • Alejandro Zacarias,
  • Jaime Pacheco

摘要

In this chapter, the inverse dynamics model of a delta-type parallel robot is introduced with the goal of relating the dynamic behavior of the torque with the dynamic behavior of the position, velocity, and acceleration. Results obtained from the programming of this inverse dynamics model of the delta-type parallel robot are compared for two kinds of simulation software (Simulink and Working Model) with the goal to reach its validation.