An application of screw theory to the kinematic analysis of a Delta-type robot

Jaime Gallardo-Alvarado, Albert L. Balmaceda-Santamaría, Eduardo Castillo-Castaneda

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

15 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Páginas (desde-hasta)3785-3792
Número de páginas8
PublicaciónJournal of Mechanical Science and Technology
Volumen28
N.º9
DOI
EstadoPublicada - 1 sep. 2014
Publicado de forma externa

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