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

作者：Limin Zhang, Jiangping Mei, Xueman Zhao, Tian Huang · 发表于：Robotica · 年份：2011 · DOI：10.1017/s0263574711000622 · 被引用次数：52 · 研究领域：Robotic Mechanisms and Dynamics、Robot Manipulation and Learning、Soft Robotics and Applications

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.