Design and analysis of the properties of the Delta inverse robot
Résumé
Introduction Parallel manipulators have been studied in numerous publications [1-6], hence it is impossible to go over them exhaustively. But the manipulator Delta is one of the best known and most popular due to its original architecture enabling the orientation of its moving platform to remain a constant. It is known that each kinematic chain of the manipulator Delta consists of an input link connected to the base by means of a rotating joint, and of a parallelogram connected to a moving platform. Obviously, the architecture of the parallelogram is more complicated than the architecture of the input link, therefore the weight of the parallelogram may be greater than that of the input link. In our opinion, the parallelogram is to be situated closer to the base, in order to decrease the amplitude of its displacements and velocities. Hence, it could decrease the power of the actuators. This article focuses on a new manipulator analogous to the manipulator Delta in which the parallelogram or the link containing two universal joints is connected to the base. The constraints imposed by the kinematic chains are considered. This article partially uses the recently obtained results [6]. The working volume is one the most important properties of manipulators. Here the working volumes of new manipulator sand of known manipulators are compared by using known algorithms [1]. The singularities have an influence on the working volume that is why the special configurations of both manipulators are considered by using the approaches based on the Jacobian matrices and on the theory of screws [1, 2, 4, 5].
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