TY - JOUR
T1 - An application of screw theory to the kinematic analysis of a Delta-type robot
AU - Gallardo-Alvarado, Jaime
AU - Balmaceda-Santamaría, Albert L.
AU - Castillo-Castaneda, Eduardo
N1 - Publisher Copyright:
© 2014, The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg.
PY - 2014/9/1
Y1 - 2014/9/1
N2 - 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.
AB - 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.
KW - Delta-robot
KW - Higher-order analysis
KW - Kinematics
KW - Screw theory
KW - Simple closure-equations
UR - http://www.scopus.com/inward/record.url?scp=84907246862&partnerID=8YFLogxK
U2 - 10.1007/s12206-014-0841-8
DO - 10.1007/s12206-014-0841-8
M3 - Artículo
SN - 1738-494X
VL - 28
SP - 3785
EP - 3792
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
IS - 9
ER -