Nonlinear Model of Delta Robot Dynamics as a Manipulator with Geometric Constraints

The increased rigidity of the delta robot manipulator is ensured by the fact that three kinematic chains intersect in its executive link. This leads to the appearance of three nonlinear geometric constraints, which extremely complicate the mathematical modeling of its dynamics due to the presence of three dependent coordinates. In the report, due to the transition to differentiated equations of constraints and the use of methods of analytical mechanics of systems with redundant coordinates, for the first time, a complete nonlinear mathematical model of the dynamics of a delta robot was built taking into account transient processes in executive electric drives.