Modelling and index analysis of a Delta-type mechanism

K. S. Hsu, M. Karkoub, M. C. Tsai, M. G. Her

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

A new type of three-dimensional parallel robot with a human interface as well as parallel motion control of a platform manipulator actuated by three a.c. servomotors is presented in this paper. The performance of this parallel robot is analysed using its forward and inverse kinematics. The analysis is performed using known quantified and graphical performance synthesis tools. Computer simulations of the parallel robot system have shown good correlation between physical interpretations and the results of using the theoretical analysis tools.

Original languageEnglish
Pages (from-to)121-132
Number of pages12
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Volume218
Issue number3
DOIs
Publication statusPublished - 1 Sep 2004

Keywords

  • Graphical performance
  • Path configuration
  • Three-dimensional parallel robot arm
  • Workspace

ASJC Scopus subject areas

  • Condensed Matter Physics
  • Mechanical Engineering

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