Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate

E. S. Gebel; Гебель Е. С.; A. B. Lastochkin; Ласточкин А. Б.; A. A. Romanov; Романов А. А.; L. V. Gavrilina; Гаврилина Л. В.; M. V. Glazunov; Глазунов М. В.

doi:10.31857/S0235711923030069

Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate

Autores: Gebel E.S.¹, Lastochkin A.B.², Romanov A.A.², Gavrilina L.V.², Glazunov M.V.³
Afiliações:
1. Omsk State Technical University, 644050, Omsk, Russia
2. Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia
3. Kosygin State University of Russia, 119071, Moscow, Russia
Edição: Nº 3 (2023)
Páginas: 3-16
Seção: МЕХАНИКА МАШИН
URL: https://cardiosomatics.ru/0235-7119/article/view/675649
DOI: https://doi.org/10.31857/S0235711923030069
EDN: https://elibrary.ru/PQGLQF
ID: 675649

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Resumo
Sobre autores
Bibliografia
Arquivos suplementares
Estatísticas

Resumo

The delta robot is considered one of the most well-known representatives of manipulation devices with a parallel structure. It includes three kinematic chains, each containing a rotary drive and a hinged parallelogram. We present solutions to the kinematics problems, including the position problems and the precision analysis problems. When solving them, we applied the screw calculus and showed that contiguity to singular positions causes a repeatability deterioration.

Palavras-chave

parallel structure mechanism, delta robot, position problem, accuracy analysis

Sobre autores

E. Gebel

Omsk State Technical University, 644050, Omsk, Russia

Email: griboedova04@mail.ru
Россия, Омск

A. Lastochkin

Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia

Email: griboedova04@mail.ru
Россия, Москва

A. Romanov

Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia

Email: griboedova04@mail.ru
Россия, Москва

L. Gavrilina

Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia

Email: griboedova04@mail.ru
Россия, Москва

M. Glazunov

Kosygin State University of Russia, 119071, Moscow, Russia

Autor responsável pela correspondência
Email: griboedova04@mail.ru
Россия, Москва

Bibliografia

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