Workspace, joint space and singularities of a family of delta-like robot
نویسندگان
چکیده
منابع مشابه
Workspace and Singularity analysis of a Delta like family robot
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gröbner based elimination is ...
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Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...
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dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...
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15 صفحه اولDetermination of Singularities in Delta-Like Manipulators
The DELTA robot and the manipulators derived from the DELTA robot are a relevant class of translational manipulators. In this paper, the mobility analysis of these parallel translational manipulators is developed in full. The manufacturing and mounting conditions that guarantee the pure translation of the platform are analytically derived. Moreover, it is demonstrated that these manipulators ca...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2018
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2018.05.004