The study discussed the force transmission performance of parallel food manipulator in order to design and confirm the power parameters of actuators. We take the Delta parallel food manipulator as example for analyzing force transmission of the food manipulator. In order to research on the load capability of parallel food manipulators, the concept of the force transmission capability is proposed. The force transmission capability of food manipulator can be used to confirm the power parameters of driving organs and describe the stability of force transmission in the work path or workspace of food manipulators. By analyzing force transmission capability of the Delta food manipulator, we obtain the relation of force transmission capability and condition number of the force Jacobian matrix and the distribution character of force transmission capability is analyzed primitively in whole workspace.
Keywords:
Delta, force transmission, parallel food manipulators,
