Workspace and payload-capacity of a new reconfigurable Delta parallel robot regular paper

Mauro Maya, Eduardo Castillo, Alberto Lomelí, Emilio González-Galván, Antonio Cárdenas

Research output: Contribution to journalArticlepeer-review

28 Scopus citations

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.

Original languageEnglish
Article number57
JournalInternational Journal of Advanced Robotic Systems
Volume10
DOIs
StatePublished - 21 Jan 2013

Keywords

  • Delta robot
  • Payload capacity
  • Reconfigurable
  • Workspace

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