由于并联Delta结构手控器结构复杂、建立模型难度较大,因此提出采用基于MATLAB/Sim Machenics工具箱实现快速建模的方法。首先对并联手控器进行逆运动学分析,得出动平台位姿与驱动臂输入角之间的运动学关系。然后根据并联手控器机械结构在Sim Machenics工具箱中建立手控器三维机构模型,最终经过实验仿真得出上述方法能够正确建立Delta并联手控器模型,并实现逆运动学的仿真。 Due to the complicated structure of parallel Delta structure hand controller and the difficulty of establishing the model, a method based on MATLAB / Sim Machenics toolbox for rapid modeling is proposed. First of all, inverse kinematics analysis of the parallel manipulator is made, and the kinematic relationship between the pose of the moving platform and the input angle of the driving arm is obtained. Then according to the mechanical structure of the parallel manipulator, a three-dimensional model of the manipulator is established in the Sim Machenics toolbox. Finally, the experimental simulation results show that the above method can correctly establish Delta parallel manipulator model and realize the inverse kinematics simulation.