A new approach to the design of a DELTA robot with a desired workspace

作者：Liu XJ^*; Wang JS; Oh KK; Kim J

来源：Journal of Intelligent & Robotic Systems, 2004, 39(2): 209-225.

DOI：10.1023/B:JINT.0000015403.67717.68

• workspace
• parallel robots
• kinematics design
• conditioning index

In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is proposed. The inscribed radius of the workspace on a workspace section is illustrated. As an applying example, a design result of the DELTA robot with a given workspace is presented and the reasonability is checked with the conditioning index. The results of the paper are very useful for the design and application of the parallel robot.

• 出版日期2004-2
• 单位清华大学