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.
R. Clavel, Delta: a fast robot with parallel geometry, 18th International Symposium on Industrial Robots, Sydney, Australia, (1988), 91-100.
R. Clavel, Conception d'un robot parllèle rapide à quatre degrés de liberté, PhD Thesis, EPFL-Institut de Microtechnique, Ch-Lausanne, (1991).
S. Stan et al., Performance analysis of 3DOF Delta parallel robot, International Conference on Human System Interactions (HIS), Yokohama, Japan, (2011), 215-220.
A. K. Dash et al., Workspace analysis and singularity representation of three-legged parallel manipulators, International Conference on Control, Automation, Robotics And Vision, Singapore, (2002), 962 - 967.
H.H. Pham, I. CHEN, Kinematics, Workspace and Static Analysis of Two Degree-of-Flexure Parallel Mechanism, Conference on Control, Automation, Robotics and Vision, Singapore, (2002), 968-973.
J.P. Conti et al., Workspace Variation of a Hexapod Machine Tool, NISTIR 6135, National Institute of Standards and Technology, Gaithersburg, MD, March, (1998).
G. Ecorchard, P. Maurine, Self-Calibration of DELTA Parallel Robots with Elastic Deformation Compensation, In Intelligent Robots and Systems, IEEE, Piscataway, USA, (2005), 1283 - 1288.
M. A. Laribi et al., Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace, Mechanism and Machine Theory, Vol. 42, (2007), 859–870.
S.C.T. Filho, E.L.L. Cabral, Kinematics and workspace analysis of a parallel architecture robot: the Hexa, ABCM Symposium Series in Mechatronics, Vol. 2, (2006), 158-165.
S. Staicu, Dynamic analysis of Clavel's DELTA parallel robot, International Conference on Robotics & Automation, Taipei, Taiwan, (2003), 4116 - 4121.
R.E. Stamper, A Three Degree of Freedom Parallel Manipulator with Only Translational Degrees of Freedom, PhD Thesis, University of Maryland, (1997).
Q. Yuan et al., Optimal Design of the Linear DELTA Robot for Prescribed Cuboid Dexterous Workspace based on performance chart, WSEAS Int. Conference on Robotics, Control and Manufacturing Technology, Hangzhou, China, (2008), 2333 - 2338.
S. K. Agrawal, Workspace boundaries of in-parallel manipulator systems, International Conference on Advanced Robotics, Robots in Unstructured Environments, Pisa, Italy, Vol. 2, (1991), 1147 - 1152.
A. Janson, X. Kong, Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains, The ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Portland, USA, Vol. 6(A), (2013) , 48-54.