Title :
Workspace analysis of the DELTA robot according to robot parameters and ball joints
Author :
Hyo-Jeong Cha ; Jae-Hong Woo ; Byung-Ju Yi ; Chanhun Park
Author_Institution :
Hanyang Univ., Ansan, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
This paper deals with workspace analysis for a 3-RRR spatial parallel manipulator through changes of robot parameters as well as rotation angles of a ball-joint. Also, based on the tendency, the kinematic parameters and the rotation angle of the ball joint are determined to get a desired workspace.
Keywords :
manipulators; 3-RRR spatial parallel manipulator; DELTA robot; ball joints; robot parameters; workspace analysis; DELTA robot; Workspace;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677396
