dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

In this paper, some definitions and traditional formulas for calculating the mobility of mechanisms are represented, e.g. Grubler formula, Somov - Malyshev formula, and Buchsbaum - Freudenstei. It is discussed that there are certain cases in which they are too ambiguous and incorrect to use. However, a matrix method is suggested based on the rank of the Jacobian of the mechanism and its applica...

Cardiopulmonary resuscitation (CPR) has been a very important requirement for the purpose of rescue of patients in emergency. But unavailability of trained technicians at the time of need has been a problem. Robotic systems capable of performing the cardiopulmonary resuscitation can be a potential solution. In this paper, a design of robotic system for CPR and its optimization has been presente...

The Delta-3 robot has in the last years become very popular in the packaging industry. ELAU GmbH which has become a Schneider Electric company during the last years has an own developed Delta-3 robot which they control with their own hardware and software. This gives the opportunity to synchronize the robot with a long chain existing machines controlled with ELAU GmbH hardware and software. In ...

This contribution presents the experimental verijcation of the newly developed Hamilton-based dynamic model ofDELTA direct drive parallel robot by measurements of DELTA robot's motor torques. The strain gage technology was applied. The experiment is in author's opinion the Jirst ever for robot DELTA. The experimental results validate the modelling of robot DELTA as a Aystem of rigid bodies, con...

In the early 1980s, Reymond Clavel invented the Delta robot at the École polytechnique fédérale de Lausanne. The initial objective was the development of an industrial robot dedicated to high-speed handling tasks of very light objects. Nowadays, the Delta robot is one of the best-known and most widely spread parallel robots. Besides various different designs of the original architecture, e.g. D...

In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is ...

Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis ...