An application of screw theory to the kinematic analysis of a Delta-type robot

Jaime Gallardo-Alvarado, Albert L. Balmaceda-Santamaría, Eduardo Castillo-Castaneda

Research output: Contribution to journalArticlepeer-review

16 Scopus citations

Abstract

This paper reports on the kinematics of a translational parallel manipulator whose topology is close to the architecture of the famous Delta robot. The displacement analysis is presented in closed-form solution by applying a new strategy based on the unknown coordinates of a point embedded to the moving platform. The input-output equations of velocity and acceleration of the robot are systematically obtained by resorting to reciprocal-screw theory. The singularities of the mechanism are explained through the input-output equation of velocity. Finally, a numerical example is provided to show the application of the method.

Original languageEnglish
Pages (from-to)3785-3792
Number of pages8
JournalJournal of Mechanical Science and Technology
Volume28
Issue number9
DOIs
StatePublished - 1 Sep 2014
Externally publishedYes

Keywords

  • Delta-robot
  • Higher-order analysis
  • Kinematics
  • Screw theory
  • Simple closure-equations

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