Ontology type: schema:ScholarlyArticle Open Access: True
2004-02
AUTHORSXin-Jun Liu, Jinsong Wang, Kun-Ku Oh, Jongwon Kim
ABSTRACTIn this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is proposed. The inscribed radius of the workspace on a workspace section is illustrated. As an applying example, a design result of the DELTA robot with a given workspace is presented and the reasonability is checked with the conditioning index. The results of the paper are very useful for the design and application of the parallel robot. More... »
PAGES209-225
http://scigraph.springernature.com/pub.10.1023/b:jint.0000015403.67717.68
DOIhttp://dx.doi.org/10.1023/b:jint.0000015403.67717.68
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