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

作者：Gallardo Alvarado Jaime^*; Balmaceda Santamaria Albert L; Castillo Castaneda Eduardo

来源：Journal of Mechanical Science and Technology, 2014, 28(9): 3785-3792.

DOI：10.1007/s12206-014-0841-8

• Delta-robot
• Higher-order analysis
• Kinematics
• Simple closure-equations
• Screw theory

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.

• 出版日期2014-9