Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances

Abstract

Delta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precision and motor behavior. The paper highlights the influence on the dynamic behavior of a Delta robot by considering individual and combined effects of clearances and friction in the spherical joints, as well as the flexibility of the rod elements. The CAD modeling of the Delta robot and its motion simulation on a representative spatial trajectory where the maximum allowed values of speed and acceleration are reached were performed using the Catia and Adams software packages. The obtained results show that the methods used were successfully applied and the effects are mutually interconnected, but not cumulative.

ROMI: Design and Experimental Evaluation of a Linear Delta Robotic System for High-Precision Applications

“…The mathematical equations to express the coordinates of the end-effector were obtained using Equations ( 5)- (7):…”

“…The above examples highlight the need for the design and evaluation of specialized robots to tackle the changes present in high-precision applications [5]. Parallel manipulators such as delta robots provide the advantages of combining highprecision, high-stiffness, high-speed, low-moving inertia, and superior precision compared with serial manipulators [6,7]. These have been mostly used for applications in high-speed machining and packing industries requiring a consistent level of precision.…”

A conceptual design of circular adaptive façade module for reuse

“…Robotic spherical joints were found in literature allowing two degrees of motion. In literature [44][45][46][47][48] , several reconfigurable kinematic mechanisms were investigated to provide spherical motion. The selection of the base concept spherical joint design for the façade module depends on two main objectives, which are a minimum number of actuators and minimum volumetric space utilization.…”