Kinematic Analysis and Workspace of 3-Dof Delta Parallel Robot

This paper introduces the solution of forward position and inverse position of 3-dof delta parallel robot,establishes proper kinematical model.The kinematic equation of 3-dof delta parallel robot was set up based on the relation of the vector between the moving platform and the base platform.Then the formulation of inverse solution and the numerical solution of direct solution are obtained,the correctness is verified by combining examples.On the basis of inverse position,a method of workplace is put forward.