abstract

• In this paper the workspace and payload capacity of a new design of reconfigurable Delta-type parallel robot is analysed. The reconfiguration is achieved by adjusting the length of the kinematic chains of a given robot link simultaneously and symmetrically during the operation of the robot. This would produce a dynamic workspace in shape and volume. A numerical analysis of the variation of shape and volume of the workspace and payload capacity of the robot is presented. Based both on the results of this analysis and on practical requirements, a proposal for the design of a reconfiguring mechanism is presented. © 2013 Maya et al.

authors

• Castillo E.
• Cárdenas Galindo Juan Antonio
• Gonzalez-Galvan Emilio J.
• Lomelí A.
• Maya Méndez Mauro Eduardo

publication date

• 2013-01-01

published in

• International Journal of Advanced Robotic Systems  Journal

keywords

• Delta robot; Payload capacity; Reconfigurable; Workspace Delta parallel robot; Delta robot; Dynamic workspace; Kinematic chain; New design; Parallel robots; Pay load capacity; Reconfigurable; Robot link; Workspace; Aerodynamic loads; Numerical analysis; Robots

Digital Object Identifier (DOI)

• 10.5772/54670

start page

end page

volume

• 10