Mechatronics 2011
DOI: 10.1007/978-3-642-23244-2_54
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DELTA - Robot with Parallel Kinematics

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Cited by 8 publications
(7 citation statements)
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“…Equation (14) indicates singular configura q 1i + q 2i = 0 or π, or with the inverse en the following (9) (10) (11) per and lower link ccurs when all the or anti-parallel to other word, in this at the workspace ese positions. ely stretched, and (b) sociated with the es corresponds to (12) more complicated ue its complicated e for all possible his condition.…”
Section: B Forward Kinematic Singularitiesmentioning
confidence: 99%
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“…Equation (14) indicates singular configura q 1i + q 2i = 0 or π, or with the inverse en the following (9) (10) (11) per and lower link ccurs when all the or anti-parallel to other word, in this at the workspace ese positions. ely stretched, and (b) sociated with the es corresponds to (12) more complicated ue its complicated e for all possible his condition.…”
Section: B Forward Kinematic Singularitiesmentioning
confidence: 99%
“…The angle i , is measured from the x-axis to the x i -axis and it is a constant parameter in manipulator design. q 1i is measured from the x i -axis to AB , q 2i is defined from the extended line of AB to the line defined by the intersection of the plane of the parallelogram and the x i -z i plane, and q 3i is measured from the y i direction to For inverse kinematic, the position vector p of the mobile platform is given and the problem is to find the joint angles 11 q , 12 q , and 13 q required to bring the mobile platform to the desired position. The solutions for 11 q , 12 q , and 13 q are given by [21].…”
Section: B Inverse Kinematicsmentioning
confidence: 99%
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“…The kinematics of the proposed robot is adapted from the kinematics of the original delta robot. 24 All information about references frames and descriptions of the proposed robot are specified in Fig. 2.…”
Section: Kinematicsmentioning
confidence: 99%
“…For example, the workspace of Delta robots is formed by the intersection of three tori, which usually yields voids inside the workspace and frequently contains workspace-interior singularities. 22…”
Section: Workpace Analysismentioning
confidence: 99%