Simulation Analysis of Delta Parallel Mechanism Based on Recurdyn

The motion principle of Delta parallel mechanism is introduced and Calculation of degrees of freedomis carried out. For combining the geometric and algebraic methods, the traditional Cartesian coordinate system coordinates are transformed into a more flexible multi-degree-of-freedom coordinate system, and the Delta parallel mechanism slider is derived. The kinematic equation of the relative position of the print head is obtained, and the kinematic inverse solution and the Jacobian matrix are obtained to obtain a more optimized path plan. Establish a model of the Delta parallel mechanism on the Recurdyn software, given the equation of motion of the mechanism The driving pair is established between the slider, the parallel arm, the guide rail and the printing nozzle to obtain the actual motion trajectory, which is consistent with the desired motion trajectory.