Torque minimization of the Delta parallel robot

Cédric Baradat (1) , Vigen Arakelian (2) , Sébastien Briot (3)

1 Fatronik France
2 DGMA - Département de Génie Mécanique et Automatique
3 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper proposes a new solution to the problem of torque minimization of the Delta robot. The suggested approach involves connecting to the initial structure a secondary mechanical system, which generates a vertical force applied to the platform of the robot. The conditions for optimization are formulated by the minimization of the root-mean-square and maximum values of the input torque due to the static and dynamic loads. The numerical examples show the efficiency of the suggested torque minimization approach.

Mots clés: input torque; torque minimization; Delta robot

Domaines: Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]

Cédric Baradat, Vigen Arakelian, Sébastien Briot. Torque minimization of the Delta parallel robot. 20th Canadian Congress of Applied Mechanics: CANCAM 2005, May 2005, Montréal, Canada. ⟨hal-00451956⟩