Unified kinematics of prismatically actuated parallel delta robots

Baran, Eray A. and Ozen, Ozhan and Bilgili, Doğacan and Şabanoviç, Asif (2019) Unified kinematics of prismatically actuated parallel delta robots. Robotica, 37 (9). pp. 1513-1532. ISSN 0263-5747 (Print) 1469-8668 (Online)

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This paper presents a unified formulation for the kinematics, singularity and workspace analyses of parallel delta robots with prismatic actuation. Unlike the existing studies, the derivations presented in this paper are made by assuming variable angles and variable link lengths. Thus, the presented scheme can be used for all of the possible linear delta robot configurations including the ones with asymmetric kinematic chains. Referring to a geometry-based derivation, the paper first formulates the position and the velocity kinematics of linear delta robots with non-iterative exact solutions. Then, all of the singular configurations are identified assuming a parametric content for the Jacobian matrix derived in the velocity kinematics section. Furthermore, a benchmark study is carried out to determine the linear delta robot configuration with the maximum cubic workspace among symmetric and semi-symmetric kinematic chains. In order to show the validity of the proposed approach, two sets of experiments are made, respectively, on the horizontal and the Keops type of linear delta robots. The experiment results for the confirmation of the presented kinematic analysis and the simulation results for the determination of the maximum cubic workspace illustrate the efficacy and the flexible applicability of the proposed framework.
Item Type: Article
Uncontrolled Keywords: Asymmetric Delta Robot; Generalized Singularities; Linear Delta Robot; Maximum Symmetric Workspace; Unified Kinematics
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Asif Şabanoviç
Date Deposited: 10 Jun 2023 16:37
Last Modified: 10 Jun 2023 16:37
URI: https://research.sabanciuniv.edu/id/eprint/46326

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