@inproceedings{93c260731d7f4a98afe75a286c8da7d6,
title = "A reconfiguration strategy of a parallel delta-type robot to improve the kinematic performance",
abstract = "In this work a reconfiguration strategy of a Delta-type robot to improve its kinematic performance is presented. The strategy considers an extra actuator that modifies locations and dimensions of the fixed platform. The direct kinematic analysis of the reconfigurable manipulator is determined to obtain the robot Jacobian, since this is used to analyse kinematic performance indices, such as Minimum singular value, Manipulability index and Global conditioned index.",
keywords = "Kinematics, Parallel robot, Performance, Reconfiguration, Screw theory",
author = "Balmaceda-Santamar{\'i}a, {A. L.} and E. Castillo-Castaneda",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015 ; Conference date: 23-06-2015 Through 25-06-2015",
year = "2016",
doi = "10.1007/978-3-319-22368-1_11",
language = "Ingl{\'e}s",
isbn = "9783319223674",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "111--119",
editor = "Said Zeghloul and Laribi, {Med Amine} and Jean-Pierre Gazeau",
booktitle = "Robotics and Mechatronics - Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics",
address = "Pa{\'i}ses Bajos",
}