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Dimensional synthesis of the Delta robot using transmission angle constraintsDimensional synthesis of the Delta robot using transmission angle constraints

Published online by Cambridge University Press:  01 July 2011

LiMin Zhang ,
JiangPing Mei ,
XueMan Zhao  and
Tian Huang
LiMin Zhang
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
JiangPing Mei*
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
XueMan Zhao
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
Tian Huang
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
*
*Corresponding author. E-mail: ppm@tju.edu.cn
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Summary

This paper deals with dynamic dimensional synthesis of the Delta robot using the pressure/transmission angle constraints. Two types of pressure/transmission angles are defined, with which the direct and indirect singularities can be identified in a straightforward manner. Two novel global dynamic metrics are proposed for minimisation, which are associated respectively with the inertial and centrifuge/Coriolis components of the driving torque. Various geometrical and performance constraints are taken into account in terms of workspace/machine volume ratio, pressure/transmission angles, etc. The effects of pressure/transmission angle constraints on the feasible domain of design variables are investigated in depth via an example, and a set of optimised dimensional parameters is obtained for achieving a good kinematic and dynamic performance throughout the entire task workspace.

Keywords

Parallel robotTransmission angleDimensional synthesisDesignDynamic performance
Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 343 - 349
Copyright
Copyright © Cambridge University Press 2011

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