Abstract
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.
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Liu, XJ., Wang, J., Oh, KK. et al. A New Approach to the Design of a DELTA Robot with a Desired Workspace. Journal of Intelligent and Robotic Systems 39, 209–225 (2004). https://doi.org/10.1023/B:JINT.0000015403.67717.68
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DOI: https://doi.org/10.1023/B:JINT.0000015403.67717.68