In this paper, we will present a new 6-DOF parallel robot using a set of
two Delta structures. An effective method is proposed to establish explicit
relationships between the end effector co-ordinates and the active and passive
joint variables. A simulation of the 2-Delta robot on a C.A.D. Robotics system
will also be presented. This simulation will allow us to validate the cohesion
of our calculations, and to show the workspace depending on the mechanical
limits on passive joints variables. Finally, an approach is proposed to study
the influence of small clearances of the passive joint on the precision of the
position and rotation of the effector. This approach is based on a concept
similar to that of Yoshikawa's manipulability.
This paper describes detailed velocity kinematics and the statics of serial and parallel robots. Without resorting to the screw theory, the duality between these two types of robots is demonstrated. This duality concerns operational speeds of serial robots and operational forces of parallel robots, as well as internal speeds in redundant
serial robots and internal forces in redundant parallel robots. This approach allows a deeper understanding of the duality between these two types of robots, particularly when they are redundant.
A general approach to the dynamics of robotic manipulators is developed in order to select an array of joint actuators and joint kinetic loads to be dealt with as control variables to carry out optimization of manipulator trajectories. Optimization is performed along free paths between work stations. The selected joint forces or torques are submitted to bounds and are optimized together with the travel time by minimizing a mixed performance index.
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