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On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 50))

Abstract

The motion and force transmission is highly important for the analysis and design of parallel manipulators. Recent advances in research have led to generally applicable formulations for transmission indices based on the notion of power coefficient. Analyses of limited-dof parallel manipulators however require separate consideration of constraint characteristics. Conversely, the design parameters of parallel manipulators are highly coupled. Thus, such separation may distort the performance evaluation and optimization of parallel manipulators. In this context, indices based on pressure angles of fully parallel manipulators are revisited and applied to the performance evaluation of the Delta robot, one of the lower-dof parallel robots. The resulting index is physically appropriate and allows for simultaneous assessment of both, the motion and force transmission and the constraint characteristics.

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Acknowledgments

This work is supported by the German Academic Exchange Service (DAAD) with funds from the Federal Foreign Office (FFO).

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Authors and Affiliations

  1. Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, Germany

    Jan Brinker & Burkhard Corves

  2. Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan

    Yukio Takeda

Authors
  1. Jan Brinker
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  2. Burkhard Corves
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  3. Yukio Takeda
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Corresponding author

Correspondence to Jan Brinker .

Editor information

Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. American University of Sharjah, UAE, on leave from the National School of Engineering of Sousse , Sousse Erriadh, Tunisia

    Lotfi Romdhane

  3. SP2MI, Téléport 2, University of Poitiers, Poitiers, France

    Med Amine Laribi

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Brinker, J., Corves, B., Takeda, Y. (2018). On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_39

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  • DOI: https://doi.org/10.1007/978-3-319-60867-9_39

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60866-2

  • Online ISBN: 978-3-319-60867-9

  • eBook Packages: EngineeringEngineering (R0)

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