Workspace and Payload-Capacity of a New Reconfigurable Delta Parallel Robot

Abstract

In this paper the workspace and payload capacity of a new design of reconfigurable Delta-type parallel robot is analysed. The reconfiguration is achieved by adjusting the length of the kinematic chains of a given robot link simultaneously and symmetrically during the operation of the robot. This would produce a dynamic workspace in shape and volume. A numerical analysis of the variation of shape and volume of the workspace and payload capacity of the robot is presented. Based both on the results of this analysis and on practical requirements, a proposal for the design of a reconfiguring mechanism is presented.

Análisis del desempeño cinetostático de un robot paralelo tipo Delta reconfigurable

“…Como se menciona en Maya et al (2013), los parámetros que tienen mayor influencia sobre el volumen del espacio de trabajo son R, LA y LB, por esta razón existe una inclinación por la selección de uno de ellos como parámetro de reconfiguración. En la figura 2 se presenta un esquema para la reconfiguración geométrica de la i-ésima cadena cinemática del robot.…”

“…El manipulador objeto de estudio en este trabajo es una variante del robot Delta (Clavel, 1991;Clavel 1990), el cual, por su simplicidad y ventajas, es quizá el robot paralelo más famoso de la historia y sobre el cual, sorpresivamente, según el conocimiento de los autores, solo existe un trabajo reportado relacionado con su reconfiguración (Maya et al, 2013).…”

Experimental Investigation of a Cable Robot Recovery Strategy

“…Cable-driven parallel robots can be easily described as parallel robots whose rigid links are replaced by flexible cables. As parallel robots, they present several advantages with respect to serial ones because of their particular structure: thanks to their low inertial properties, the end-effector can reach high speed, ad they can manipulate high-payloads since the payload is distributed among the links [1].…”

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

“…The original Delta robot is such a parallel robot that is built using parallelogram mechanisms and the moving platform, which has three translational and one additional uncoupled rotational DoFs with respect to the base invented by [6]. After that some studies have also been contributed to the linear Delta robot [7], [8] and reconfigurable Delta robot [9], [10]. Various methods have been applied for kinematic model [11] and synthesis [12] of Delta robot.…”