KINEMATIC ANALYSIS 6DOF DELTA MANIPULATOR KINEMATICKÁ ANALÝZA DELTA MANIPULÁTORU SE 6DOF

In the paper the solid and kinematic model of delta type parallel manipulator with six degrees of freedom is proposed. Method of determining the manipulator kinematics equations using the notation of Denavitt - Hartenberg is presented. For given movements of manipulator platform the trajectory of drives are illustrated. Also working space for various platform orientations are showed. Abstrakt V clanku je popsan model mechanicke struktury a model pro kinematickou analýzu paralelniho manipulatoru typu delta se 6 stupni volnosti. Kinematický model manipulatoru je sestaven s využitim Denavitt - Hartenbergova principu. Pro požadovanou trajektorii koncove platformy manipulatoru byly vygenerovany průběhy poloh jednotlivých pohonů. Dale byl vysetřen pracovni prostor manipulatoru pro možne orientace koncove platformy.