{"title":"Performance analysis of 3 DOF Delta parallel robot","authors":"S. Stan, M. Manic, Cristian Szep, R. Balan","doi":"10.1109/HSI.2011.5937369","DOIUrl":null,"url":null,"abstract":"Parallel robots have inherent advantages for many applications in the fields of robotics. They offer high dynamic capabilities combined with high accuracy and stiffness. There are a lot of performance criteria which have to be taken into account and which are pose dependent. The main idea of this paper is to present the fundamentals for a performance evaluation of the 3 DOF Delta parallel robot. Therefore we discuss a large number of performance criteria dealing with workspace, quality transmission, manipulability, dexterity and stiffness.","PeriodicalId":384027,"journal":{"name":"2011 4th International Conference on Human System Interactions, HSI 2011","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"27","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 4th International Conference on Human System Interactions, HSI 2011","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HSI.2011.5937369","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 27
Abstract
Parallel robots have inherent advantages for many applications in the fields of robotics. They offer high dynamic capabilities combined with high accuracy and stiffness. There are a lot of performance criteria which have to be taken into account and which are pose dependent. The main idea of this paper is to present the fundamentals for a performance evaluation of the 3 DOF Delta parallel robot. Therefore we discuss a large number of performance criteria dealing with workspace, quality transmission, manipulability, dexterity and stiffness.