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 journalArticle

21 Citations (Scopus)

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. © 2013 Maya et al.
Original languageAmerican English
JournalInternational Journal of Advanced Robotic Systems
DOIs
StatePublished - 21 Jan 2013

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Robots
Numerical analysis
Kinematics

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title = "Workspace and payload-capacity of a new reconfigurable Delta parallel robot regular paper",
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. {\circledC} 2013 Maya et al.",
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journal = "International Journal of Advanced Robotic Systems",
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Workspace and payload-capacity of a new reconfigurable Delta parallel robot regular paper. / Maya, Mauro; Castillo, Eduardo; Lomelí, Alberto; González-Galván, Emilio; Cárdenas, Antonio.

In: International Journal of Advanced Robotic Systems, 21.01.2013.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Workspace and payload-capacity of a new reconfigurable Delta parallel robot regular paper

AU - Maya, Mauro

AU - Castillo, Eduardo

AU - Lomelí, Alberto

AU - González-Galván, Emilio

AU - Cárdenas, Antonio

PY - 2013/1/21

Y1 - 2013/1/21

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AB - 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. © 2013 Maya et al.

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DO - 10.5772/54670

M3 - Article

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

SN - 1729-8806

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