Title :
Performance analysis of 3 DOF Delta parallel robot
Author :
Stan, Sergiu-Dan ; Manic, Milos ; Szep, Cristian ; Balan, Radu
Author_Institution :
Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania
Abstract :
Parallel robots have inherent advantages for many applications in the fields of robotics. They offer high dynamic capabilities combined with high accuracy and stiffness. There are a lot of performance criteria which have to be taken into account and which are pose dependent. The main idea of this paper is to present the fundamentals for a performance evaluation of the 3 DOF Delta parallel robot. Therefore we discuss a large number of performance criteria dealing with workspace, quality transmission, manipulability, dexterity and stiffness.
Keywords :
manipulators; 3 DOF delta parallel robot; performance analysis; performance criteria; Indexes; Jacobian matrices; Kinematics; Manipulators; Mathematical model; Parallel robots; 3DOF; Delta parallel robot; kinematics; performance analysis; workspace;
Conference_Titel :
Human System Interactions (HSI), 2011 4th International Conference on
Conference_Location :
Yokohama
Print_ISBN :
978-1-4244-9638-9
DOI :
10.1109/HSI.2011.5937369
