The Workspace Analysis of the Delta Robot Using a Cross-Section Diagram Based on Zero Platform

Author:

Hong Jun-Ho1,Lim Ji-Ho23ORCID,Lee Euntaek3,Shin Dongwon3

Affiliation:

1. Department of Mechanical Engineering, Kumoh National Institute of Technology, Gumi 39177, Gyeongbuk, Republic of Korea

2. Korea Institute of Robotics & Technology Convergence, Pohang 37553, Gyeongbuk, Republic of Korea

3. Department of Mechanical System Engineering, Kumoh National Institute of Technology, Gumi 39177, Gyeungbuk, Republic of Korea

Abstract

This paper introduces a new concept of a zero-platform delta robot with three key parameters affecting the shape and size of the workspace. This concept is applied to directly bring the torus configuration into the links of the robot and shows its usefulness in configuring and generating the workspace conveniently. Analyzing the workspace of parallel robots, such as delta robots, requires extensive computation due to the constraints between the links, typically requiring complex equations or numerical methods. This paper proposes a new method for quickly estimating the shape and size of the workspace using a cross-section diagram based on a geometrical analysis of the zero-platform delta robot. The shape and size of the workspace can be rapidly estimated because the intersection of three cross-section diagrams needs only the torus’s 2D operation. Comparing the workspace between the cross-section diagram and the 3D CAD software, this paper shows that the cross-section diagram can analyze the shape and size of the workspace quickly and give a more geometrical understanding of the workspace.

Funder

National Research Foundation of Kore

Publisher

MDPI AG

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