文章基本信息

标题：A Novel Reconfiguration Strategy of a Delta-type Parallel Manipulator
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作者：Albert Lester Balmaceda-Santamaría ; Eduardo Castillo-Castaneda and Jaime Gallardo-Alvarado
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/61942
语种：English
出版社：SAGE Publications
摘要：This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.
关键词：Reconfiguration; Kinematics Parallel Robot; Workspace; Screw Theory; Condition Number