Workspace analysis of the DELTA robot according to robot parameters and ball joints

This paper deals with workspace analysis for a 3-RRR spatial parallel manipulator through changes of robot parameters as well as rotation angles of a ball-joint. Also, based on the tendency, the kinematic parameters and the rotation angle of the ball joint are determined to get a desired workspace.

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	Hyo-Jeong Cha, Jae-Hong Woo, Byung-Ju Yi, Chanhun Park
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Ambient intelligence DELTA robot Educational institutions Joints Kinematics Manipulators Service robots Workspace
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	This paper deals with workspace analysis for a 3-RRR spatial parallel manipulator through changes of robot parameters as well as rotation angles of a ball-joint. Also, based on the tendency, the kinematic parameters and the rotation angle of the ball joint are determined to get a desired workspace.
DOI:	10.1109/URAI.2013.6677396