基于并联机器人机构学理论,对Delta机器人机构进行位置分析,建立Delta机器人运动学逆解模型,并通过几何法求得Delta机器人运动学正解.在运动学正解的基础上,分析了Delta机器人的工作空间,并利用MATLAB的计算与绘图功能,画出Delta机器人的工作空间,为Delta机器人的应用提供了重要参考依据.%Based on the theory of parallel robot mechanism,this paper analyses the position of Delta robot mechanism,establishes its kinematic inverse solution model,obtains the kinematic forward solution by geometry method and on the basis of the forward solu-tion,analyzes the workspace of the Delta robot and draws out its workspace by using the function of calculation and drawing of the MATLAB. This lays the foundation of its applications.
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