TY - JOUR ID - 12525 TI - An Efficient Algorithm for Workspace Generation of Delta Robot JO - International Journal of Robotics, Theory and Applications JA - IJR LA - en SN - 2008-7144 AU - Gharahsofloo, Abdolreza AU - Rahmani Hanzaki, Ali AD - Faculty of Mechanical Engineering, Sahid Rajaee Teacher Training University, Tehran, Iran, P.O. Box , 16785-136 Y1 - 2015 PY - 2015 VL - 4 IS - 2 SP - 48 EP - 53 KW - Parallel Manipulator KW - Delta Robot KW - Workspace Generation KW - kinematic analysis DO - N2 - 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. UR - https://ijr.kntu.ac.ir/article_12525.html L1 - https://ijr.kntu.ac.ir/article_12525_3569104c191b35f08045e7d7b31f7551.pdf ER -