DELTA - Robot with Parallel Kinematics

Ardestani

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

2014

The particular family of lower mobility parallel manipulators by employing modified version of Delta robot is proposed in this paper. The proposed novel mechanism like ordinary Delta parallel mechanism has three degrees of pure translational freedom. One of the main differences between this mechanism and Delta parallel mechanism is the position of robot's three active joints relative to each other which has caused the change in geometry of platforms, and shapes the asymmetrical structure in the robot mechanism and its workspace. Another difference arises from an architectural optimization methodology by consideration of mixed performance index which has been utilized in this mechanism for reaching a better compromise between the dexterity of manipulator and its workspace. After introducing architecture of the robot, developed kinematic closed-form solution is verified using MSC.Adams©. Then Jacobian matrix is generated in order to evaluate the singularity problem of proposed mechanism. After that, workspace of the robot is investigated and compared with ordinary Delta mechanism.

Section: B Forward Kinematic Singularitiesmentioning

confidence: 99%

Section: B Inverse Kinematicsmentioning

confidence: 99%

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Singularity analysis of a novel three translational DoF parallel robot considering kinematic asymmetric property

Ardestani

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

2014

“…The kinematics of the proposed robot is adapted from the kinematics of the original delta robot. 24 All information about references frames and descriptions of the proposed robot are specified in Fig. 2.…”

Section: Kinematicsmentioning

confidence: 99%

Design and Kinematics of a Comanipulated Robot Dedicated to Prostate Brachytherapy

et al. 2020

SUMMARY In brachytherapy, the manual implantation of seeds is not accurate leading to side effects and limiting the use of new procedures. Robotics solutions have to be fully suitable for medical applications especially considering the operating room. This paper investigates a delta robot solution for improving the accuracy of the prostate brachytherapy procedure by proposing a compact and lightweight robot. In addition, the design was thought as a comanipulated robot for a better acceptability and human–machine interaction. The robot kinematics and singularities were determined and the theoretical capability in term of resolution and force feedback was evaluated. A prototype was built in order to experimentally measure the capability of this first prototype.

“…For example, the workspace of Delta robots is formed by the intersection of three tori, which usually yields voids inside the workspace and frequently contains workspace-interior singularities. 22…”

Section: Workpace Analysismentioning

confidence: 99%

On the kinematics of a new parallel mechanism with Schoenflies motion

Lee

2015

Robotica

SUMMARYThis paper investigates the kinematics of one new isoconstrained parallel manipulator with Schoenflies motion. This new manipulator has four degrees of freedom and two identical limbs, each having the topology of Cylindrical–Revolute–Prismatic–Helical (C–R–P–H). The kinematic equations are derived in closed-form using matrix algebra. The Jacobian matrix is then established and the singularities of the robot are investigated. The reachable workspaces and condition number of the manipulator are further studied. From the kinematic analysis, it can be shown that the manipulator is simple not only for its construction but also for its control. It is hoped that the results of the evaluation of the two-limb parallel mechanism can be useful for possible applications in industry where a pick-and-place motion is required.