Modeling inverse solution of mechanism configuration for delta industrial robot

There is not direct positive solution but there is direct inverse solution for the configuration of Delta industrial robot. On inverse solution of the configuration of the Delta industrial robot, it is demanded traditionally to construct complex matrix equation and solve trivial equation. This paper proposes a modeling inverse solution method by means of 3D drawing based on UG. In it the displacement parameter or input value of the moving platform in relative to the fixed platform are defined with variable element in UG system, and the configuration of delta parallel industrial robot is solved and draw out. Thus it is possible that the inverse solution of the angel of original input link or output value can be automatically obtained by alter the input value of the moving platform. It is appearance that the modeling inverse solution by this modeling way is simple and the drawing result of the configuration is visual, believable and reliable because of the location and length of link can be check by direct measurement.