Abstract:Human-robot collaborative manipulation is a hotspot of robot research. Based on the self-developed small Delta parallel robot which is used for human-robot collaborative manipulation, the theoretical modeling and grasping experiments are systematically carried out. The kinematics constraint equations of the system were established, the forward and inverse kinematics equations of the mechanism were derived, and the simplified dynamic model of the system was established using the principle of virtual work. The grasping trajectory planning were carried out within the workspace. In order to verify the feasibility of the system, an experimental system was established to carry out the grasping experiment. The experimental results show the feasibility of the small Delta robot system, which lays a theoretical and hardware foundation for the human-robot cooperation operation in the future research.