A new approach for Kinematics-based design of 3-RRR delta robots with a specified workspace

One of the most significant issues in design of the parallel robots is to determine proper kinematic parameters leading to a desired workspace. The aim of this research is to propose a new approach for kinematics-based design of 3-RRR Delta robots considering a specified workspace. To this end, a new concept, called the Maximum Surrounded Workspace (MSW),will be presented, which is the basis of the new design methodology utilized in this paper. Additionally, the kinematic parameters of some of the prominent industrial 3-RRR Delta robots and their relationships have carefully been examined which are then will be employed in the proposed design procedure. The obtained real-world results of using the proposed approach for designing a 3-RRR Delta robot sample, reveal not only the proper performance of the suggested method, but also its simplicity and efficiency.