TY - JOUR
T1 - A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator
AU - Balmaceda-Santamaría, Albert Lester
AU - Castillo-Castaneda, Eduardo
AU - Gallardo-Alvarado, Jaime
N1 - Publisher Copyright:
© SAGE Publications Ltd.
PY - 2016/2/4
Y1 - 2016/2/4
N2 - This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.
AB - This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.
KW - Condition Number
KW - Kinematics Parallel Robot
KW - Reconfiguration
KW - Screw Theory
KW - Workspace
UR - http://www.scopus.com/inward/record.url?scp=85001932749&partnerID=8YFLogxK
U2 - 10.5772/61942
DO - 10.5772/61942
M3 - Artículo
SN - 1729-8806
VL - 13
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
IS - 1
M1 - 61942
ER -