Kinematics and Control of a 4-DOF Delta Parallel Manipulator

In this paper, the design, kinematic problem and control of a 4-DOF Delta parallel manipulator are investigated. Delta is a parallel manipulator which is widely used for pick-and-place applications. A simulation of this manipulator is designed in SimMechanic environment. The verification of the inverse kinematic problem has been done in simulation environment. Afterwards, different controllers like PID and Sliding-Mode based on the inverse kinematic problem are designed in simulation environment and their results are compared with each other. According to value of the root mean square error, PID controller exhibits better performance and tracked the desired path with less error compared to other controllers. Then the Sliding-Mode control is designed and based to the obtained results, leads to less chattering in tracking the desired path.