Hey guys!

I'm lately bending my mind into getting fit with delta robots (which admittedly might not be your focus judging from overall topics found here).

For constructing a real one, I'd like to get a hang of the moments and forces I'll have to expect during movement. Over at youtube I saw a video of a talented guy, who programmed a dynamic simulation model of a delta robot. No matter how much I thought about it, I imagine that a terribly complex task. From my understanding, the system sports coupled nonlinear differential equations (3 input, MANY constrained inner forces/momentums, 3 output).

Can you guys think of ways to break a real simulation into a manageable approximation? I was thinking on using normal forward kinematics of a given path and then somehow calculate the forces "backwards". But I always end up with coupled equations I cannot get broken up and the amount of forces and angles is discouraging when I don't have the feeling I'm on the right path.

Do you guys know an answer or can you point me to resources which could help me with this? I fully expect I'll have to spend some quality time on this!

Thanks in advance,

Michael

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