An Efficient Algorithm for Workspace Generation of Delta Robot


Faculty of Mechanical Engineering, Sahid Rajaee Teacher Training University, Tehran, Iran, P.O. Box , 16785-136


Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computation are highlighted. This article exerts an improved numerical search method for workspace generation of a Delta robot. The algorithm is based on a methodology applied to a Hexapod manipulator somewhere else, while the improvement utilized here causes a good increase in its speed and efficiency. The results illustrate that the approach is feasible, practical, and more efficient than initial method for the generation and analysis of the workspace of the parallel manipulator, however it is done for a Delta here.


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