Modelling and index analysis of a Delta-type mechanism

K. S. Hsu, M. Karkoub, M. C. Tsai, M. G. Her

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


A new type of three-dimensional parallel robot with a human interface as well as parallel motion control of a platform manipulator actuated by three a.c. servomotors is presented in this paper. The performance of this parallel robot is analysed using its forward and inverse kinematics. The analysis is performed using known quantified and graphical performance synthesis tools. Computer simulations of the parallel robot system have shown good correlation between physical interpretations and the results of using the theoretical analysis tools.

Original languageEnglish
Pages (from-to)121-132
Number of pages12
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Issue number3
Publication statusPublished - 2004 Sep

All Science Journal Classification (ASJC) codes

  • Condensed Matter Physics
  • Mechanical Engineering


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