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Workspace Analysis Of A Linear Delta Robot: Calculating The Inscribed Radius, Michael Louis Pauly
Workspace Analysis Of A Linear Delta Robot: Calculating The Inscribed Radius, Michael Louis Pauly
Graduate Theses - Mechanical Engineering
One of the most important traits of a robotic manipulator is its work envelope, the space in which the robot can position its end effector. Parallel manipulators, while generally faster, are restricted by smaller work envelopes [1]. As such, understanding the parameters defining a physical robot’s work envelope is essential to the optimal design, selection, and use of robotic parallel manipulators. A Linear Delta Robot (LDR) is a type of parallel manipulator in which three prismatic joints move separate arms which connect to a single triangular end plate [2]. In this study, general inverse kinematics were derived for a linear …