Synthesis of a Manipulator of the NewU\VA Robot
نویسنده
چکیده
This contribution presents the workspace analysis process leading to the development of the concept of a New University of Western Australia Robot NUWAR. NUWAR is a variation of the well-known Del leI robot. It is of particular interest to detennine, for given dimensions of a manipulator, how the size and shape ofthe robot workspace vary with values of two angles defming the orientation of motor axes. Finding the optimal values of these angels, from the point of view of the workspace volume, has been an objective of this study. Computer simulations indicated that the configuration described by motor axis inclination to the horizontal plane a=35.26 degrees and the angle between the motor axis and the sides of the base triangle ~=60 degrees known as the New University of Western Australia Robot NUWAR -is advantageous over Delta configuration in tenns ofworkspace volume and shape.
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