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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)
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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

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