Author:
Lallemand J. P.,Goudali A.,Zeghloul S.
Abstract
In this paper, we will present a new 6-DOF parallel robot using a set of
two Delta structures. An effective method is proposed to establish explicit
relationships between the end effector co-ordinates and the active and passive
joint variables. A simulation of the 2-Delta robot on a C.A.D. Robotics system
will also be presented. This simulation will allow us to validate the cohesion
of our calculations, and to show the workspace depending on the mechanical
limits on passive joints variables. Finally, an approach is proposed to study
the influence of small clearances of the passive joint on the precision of the
position and rotation of the effector. This approach is based on a concept
similar to that of Yoshikawa's manipulability.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
33 articles.
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