Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom

Laryushkin, P. A.; Erastova, K. G.; Филиппов, Г. С.; Kheylo, Sergey

doi:10.3103/s1052618819030105

Cited by 10 publications

(3 citation statements)

References 6 publications

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“…To accurately determine the shape and size of the workspace, it is advisable to use an iterative method. Due to its simplicity and high accuracy, it has become widely used in the works of many researchers [16][17][18][19][20][21].…”

Section: Approaches To Estimating Effective Workpacementioning

confidence: 99%

“…Consider a delta robot with four DOF (three translational and one rotational), which differs from the version proposed by Clavel in the structure of the kinematic chain (Fig. 18) and the number of chains and is designed for manipulating objects of small weight (up to 0.5 kg) [20,37]. The practical application of this robot is assumed in the installation used for task of laser removal of space debris.…”

Section: Delta Robot With Four Dofsmentioning

confidence: 99%

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Effective workspaces of parallel robots

Erastova

2022

Robotica

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An approach for calculating the effective workspaces of parallel mechanisms has been considered in this paper. The effective workspace is a set of reachable by the end-effector points, where an important parameter (or parameters) from the point of view of operation is not higher than critical. In this article, the speed and torque in the drive and the stiffness of the mechanism are considered as such parameters. An approach to determining the appropriate effective workspace is presented for each parameter. The optimization process, which is based on presented methods, allows one to choose basic technical solutions of the designed robot: the links (lengths and cross-sections), the drives, and types of hinges, which guarantee its operability at the specified operational characteristics. Case studies of a delta robot with four degrees of freedom and a planar five-bar mechanism are presented for testing these approaches. The presented methods are of great practical importance because it uses movement parameters or operational characteristics that are decisive for this mechanism and have clear physical meaning.

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Section: Approaches To Estimating Effective Workpacementioning

confidence: 99%

Section: Delta Robot With Four Dofsmentioning

confidence: 99%

Effective workspaces of parallel robots

Erastova

2022

Robotica

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“…Shen et al are carried out a study on the kinematic sensitivity, parameter definition, and calibration of the nonsymmetric parallel Delta robot [22]. Development, design and control studies of parallel robots have been researched by several researches up to date [23][24][25][26]. Boudjedir et al were applied iterative learning control-Delta robot with non-repetitive trajectories for quadratic MIMO nonlinear systems [27].…”

Section: Introductionmentioning

confidence: 99%

Delta Tipi Bir Paralel Robotun Hareket Kontrolü ve Analizi

Abut

Soygüder

2021

Muş Alparslan Üniversitesi Fen Bilimleri Dergisi

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Parallel robots have natural advantages for many applications thanks to their high rigidity, high accuracy, low inertia of the moving parts and lightness, etc. The goal of this study has performed motion control, the kinematic and workspace analyses of a Delta-type parallel robot with 3 degrees of freedom (3-DOF). Delta-type parallel actual parameter values were used in the motion control and analyses. Forward and inverse kinematics analysis, as well as workspace analysis of the robot, were carried out. In addition, the motion control of the robot is actualized in Cartesian space. In order for the delta-type parallel robot to have zero oscillation and to have a robust structure against external disturbances, the Sliding Mode Control (SMC) method was preferred. As a result, the motion control, kinematics, and workspace analyses of the delta-type parallel robot were realized and examined.

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