Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plucker Coordinate

被引：0

作者：

Gebel, E. S. ^{[1
]}

Lastochkin, A. B. ^{[2
]}

Romanov, A. A. ^{[2
]}

Gavrilina, L. V. ^{[2
]}

Glazunov, M. V. ^{[3
]}

机构：

[1] Omsk State Tech Univ, Omsk 644050, Russia

[2] Russian Acad Sci, Mech Engn Res Inst, Moscow 101900, Russia

[3] Kosygin State Univ Russia, Moscow 119071, Russia

来源：

JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2023年 / 52卷 / 03期

关键词：

parallel structure mechanism; delta robot; position problem; accuracy analysis;

D O I：

10.3103/S1052618823030068

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The delta robot is considered one of the most well-known representatives of manipulation devices with a parallel structure. It includes three kinematic chains, each containing a rotary drive and a hinged parallelogram. We present solutions to the kinematics problems, including the position problems and the precision analysis problems. When solving them, we applied the screw calculus and showed that contiguity to singular positions causes a repeatability deterioration.

引用

页码：187 / 199

页数：13

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