Performance analysis of 3 DOF Delta parallel robot

S. Stan, M. Manic, Cristian Szep, R. Balan
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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.
三自由度Delta并联机器人性能分析
并联机器人在机器人领域的许多应用中具有固有的优势。它们提供高动态能力,结合高精度和刚度。有很多性能标准需要考虑,这些标准与姿势有关。本文的主要思想是为三自由度Delta并联机器人的性能评估提供基础。因此,我们讨论了大量的性能标准,包括工作空间、质量传递、可操纵性、灵巧性和刚度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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