In this paper we derive a reduced model, that is, a model in terms of independent generalized coordinates, for the equations of motion of closed-chain mechanisms. We highlight the fact that the model has two special characteristics which make it different from models of open-chain mechanisms. First, it is defined locally in the generalized coordinates. We therefore characterize the domain of va...

Industrial high-speed laser operations the use of delta parallel robots potentially offers many benefits, due to their structural stiffness and limited moving masses. This paper deals with a particular Delta, developed for high-speed laser cutting. Parallel delta robot has numerous advantages in comparison with serial robots: Higher stiffness, and connected with that a lower mass of links, the ...

A large Delta robot has been modified to pick up and place a triangular shaped foot. The robot pushes the foot down to lift the body and the three associated fixed support legs. It then moves the foot sideways so that the body moves in the opposite direction to a new position where the fixed legs are lowered to the ground and the foot lifted ready for a new placement. In this way the robot is a...

This paper presents the modeling of inverse kinematic problem related to motions a delta planar robot using algebra unitary Quaternions. The mathematical model resulting from analysis has an associated system 8 nonlinear algebraic equations with polynomial unknowns. Newton-Raphson method was used solve robot. Subsequently, robot, database constructed that relates Cartesian coordinates end effec...

The focus of this study is development an intelligent fault detection, diagnosis and health evaluation system for real industrial robots. uses principal component analysis based statistical process control with Nelson rules online detection. Several suitable are chosen sensitive When a variation detected, the performs diagnostic operation to acquire features time domain frequency from motor enc...