30TH DAAAM INTERNATIONAL SYMPOSIUM ON INTELLIGENT MANUFACTURING AND AUTOMATION DOI: 10.2507/30th.daaam.proceedings.020 DEVELOPMENT OF DYNAMIC MODEL OF ROBOT WITH PARALLEL STRUCTURE BASED ON 3D CAD MODEL Vjekoslav Damic, Maida Cohodar & Nedzma Kobilica This Publication has to be referred as: Damic, V[jekoslav]; Cohodar, M[aida] & Kobilica, N[edzma] (2019). Development of Dynamic Model of Robot with Parallel Structure Based on 3D CAD Model, Proceedings of the 30th DAAAM International Symposium, pp.0155-0160, B. Katalinic (Ed.), Published by DAAAM International, ISBN 978- 3-902734-22-8, ISSN 1726-9679, Vienna, Austria DOI: 10.2507/30th.daaam.proceedings.020 Abstract Investigation of behaviour of parallel robot attracts the attention of researchers around the world. The main features of parallel robots are high precision and accuracy, work with high speed and large payload that make these robots capable of fast picking applications in agriculture, food and pharmaceutical industry, medicine etc. The most common limitation of the parallel robot is small workspace. Development of dynamic model of parallel robot based on its 3D CAD assembly is explained in the paper. Dynamic model of robot manipulator of ABB IRB 360 is automatically generated by importing of 3D CAD assembly from SolidWorks to Simulink programming environment. The obtained model can serve as a research platform to define task in joint or operational workspace, to investigate different control strategies, planning trajectories etc. Keywords: Dynamic model; 3D CAD model; Parallel structure; Operational space. 1. Introduction Popularity of robots with parallel structure increases during last time because of its good performances [1]. They can operate with high speed and accuracy, have good stiffness, large payload capacity to body-weight ratio and manipulability. Some types of Delta robots, its large potential, research directions and area of implementation are presented in [2]. Attention focused on the evaluation of the 3 DOF Delta parallel robot performances is given in [2]. Dynamic modelling of robot with parallel structure is subject of many researchers: dynamics of the Stewart platform is developed by bond graphs using Newton-Euler procedure in [3], a Delta parallel robot using the principle of the virtual work and the fundamental equations of the parallel robot dynamics in [6]. The new solution to the problem of torque minimization of the Delta robot has proposed in [7]. Attention of many researchers has paid to design and analysis of workspace and path planning of the parallel robots. The approach to compute a reachable workspace for the Delta robot is given in [6]. Path planning based on mapping the path to the joint space where the polynomial input method has adopted, is proposed in [9] providing the ability of the control all variables as well as moving to the target configuration along a smooth trajectory. In [9], it has proved that all joints of the parallel manipulator system can move stably and accurately from initial to the target configuration within the specified time. - 0155 -