DELTA - A SIMPLE AND EFFICIENT PARALLEL ROBOT

被引：211

作者：

PIERROT, F

REYNAUD, C

FOURNIER, A

机构：

[1] Laboratoire de'Automatique et de Microelectronique de Montpellier, Montpellier Cedex 1 34060, USTL

来源：

ROBOTICA | 1990年 / 8卷

关键词：

Dynamic; Kinematic; Models; Parallel robot; Static;

D O I：

10.1017/S0263574700007669

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure. © 1990, Cambridge University Press. All rights reserved.

引用

页码：105 / 109

页数：5

共 10 条

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