Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-31T19:52:34.907Z Has data issue: false hasContentIssue false
  • English
  • Français

DELTA: a simple and efficient parallel robot

Published online by Cambridge University Press:  17 August 2017

F. Pierrot ,
C. Reynaud  and
A. Fournier
F. Pierrot
Affiliation:
Laboratoire de'Automatique et de Microélectronique de Montpellier, USTL, Place Eugène Bataillon 34060 Montpellier Cedex 1 (France)
C. Reynaud
Affiliation:
Laboratoire de'Automatique et de Microélectronique de Montpellier, USTL, Place Eugène Bataillon 34060 Montpellier Cedex 1 (France)
A. Fournier
Affiliation:
Laboratoire de'Automatique et de Microélectronique de Montpellier, USTL, Place Eugène Bataillon 34060 Montpellier Cedex 1 (France)
Get access Rights & Permissions [Opens in a new window]

Summary

The DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure.

Keywords

Parallel robotModelsKinematicStaticDynamic
Type
Research Article
Information
Robotica , Volume 8 , Issue 2 , April 1990 , pp. 105 - 109
Copyright
Copyright © Cambridge University Press 1990

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Merlet, J.P., “Parallel Manipulators, Part I: Theory, Design, Kinematics, Dynamics and Control” Rapport de recherches INRIA No. 649 (1987).Google Scholar
2. Nguyen, C.C. and Pooran, F.J., “Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism” Proc. of the 2nd International Symposium on Robotics an Manufacturing, Albuquerque, New Mexico, USA (11 16–18, 1988) pp. 351–359.Google Scholar
3. Reboulet, C., “Modélisation des robots parallèles” In: Techniques de la Robotique, vol. 1, Chapter 8, pp. 257–284 (Hermes Publishing, France, 1988).Google Scholar
4. Inoue, H., Tsusaka, Y. and Fukuizumu, T., “Parallel Manipulator” The Third International Symposium on Robotics Research Chapter 7, pp. 321–327 (Gouvier, France, 1985; M.I.T. Press, Cambridge MA, 1986).Google Scholar
5. Clavel, R., “A fast robot with parallel geometry” 18th International Symposium on Industrial Robots Sydney, Australia (04 1988) pp. 91–100.Google Scholar
6. Sternheim, F., “Computation of the direct and inverse kinematic models of the Delta 4 parallel robot” Robotersysteme 3, 199–203 (1987).Google Scholar
7. Berthomieu, T., “Etude d'un micro-manipulateur parallèle et de son couplage avec un robot porteur” Thèse de Docteur Ingénieur ENSAE CERT-DERA Toulouse France (24 01, 1989).Google Scholar
8. Dombre, E. and Khalil, W., Modélisation et Commande des Robots (Hermes Publishing, France, (1988)Google Scholar
9. Nakamura, Y. and Ghodoussi, M., “A computational scheme of closed link robot derived by d'Alembert principle” Proc. 1988 IEEE International Conference on Robotics and Automation Philadelphia, Pennsylvania, USA (04 25–29, 1988) pp. 1354–1360.Google Scholar
10. Nakamura, Y., “Dynamics of closed link robots with actuational redundancy” Proc. of the 2nd International Symposium on Robotics an Manufacturing Albuquerque, New Mexico, USA (11 16–18, 1988) pp. 309–318.Google Scholar