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An application of screw theory to the kinematic analysis of a Delta-type robot
Jaime Gallardo-Alvarado,Albert L. Balmaceda-Santamaría,Eduardo Castillo-Castaneda 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.9
This paper reports on the kinematics of a translational parallel manipulator whose topology is close to the architecture of the famousDelta robot. The displacement analysis is presented in closed-form solution by applying a new strategy based on the unknown coordinatesof a point embedded to the moving platform. The input-output equations of velocity and acceleration of the robot are systematicallyobtained by resorting to reciprocal-screw theory. The singularities of the mechanism are explained through the input-output equation ofvelocity. Finally, a numerical example is provided to show the application of the method.