The spherical motion based on the inverse kinematics for a Delta robot

Chung-Ping Young, Yen Bor Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The robot arms used in industry are classified as two categories including the serial robot and the parallel robot. Compared with the serial robots, parallel robots have advantages in high precision, high stiffness, high load, high speed and low inertia. This work proposed and implemented a mechanism to perform spherical motion with merely extra modification of a Delta-based machine and the experimental results showed that this design is practical and stable for usage. According to the quantitative evaluation, the errors are within several millimeters.

Original languageEnglish
Title of host publicationProceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages29-33
Number of pages5
ISBN (Electronic)9781467398596
DOIs
Publication statusPublished - 2016 Jun 7
Event2nd International Conference on Control, Automation and Robotics, ICCAR 2016 - Hong Kong, Hong Kong
Duration: 2016 Apr 282016 Apr 30

Publication series

NameProceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016

Other

Other2nd International Conference on Control, Automation and Robotics, ICCAR 2016
CountryHong Kong
CityHong Kong
Period16-04-2816-04-30

Fingerprint

Inverse kinematics
Robots
Loads (forces)
Stiffness
Industry

All Science Journal Classification (ASJC) codes

  • Hardware and Architecture
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition

Cite this

Young, C-P., & Lin, Y. B. (2016). The spherical motion based on the inverse kinematics for a Delta robot. In Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016 (pp. 29-33). [7486693] (Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAR.2016.7486693
Young, Chung-Ping ; Lin, Yen Bor. / The spherical motion based on the inverse kinematics for a Delta robot. Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 29-33 (Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016).
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Young, C-P & Lin, YB 2016, The spherical motion based on the inverse kinematics for a Delta robot. in Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016., 7486693, Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016, Institute of Electrical and Electronics Engineers Inc., pp. 29-33, 2nd International Conference on Control, Automation and Robotics, ICCAR 2016, Hong Kong, Hong Kong, 16-04-28. https://doi.org/10.1109/ICCAR.2016.7486693

The spherical motion based on the inverse kinematics for a Delta robot. / Young, Chung-Ping; Lin, Yen Bor.

Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 29-33 7486693 (Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Young C-P, Lin YB. The spherical motion based on the inverse kinematics for a Delta robot. In Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 29-33. 7486693. (Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016). https://doi.org/10.1109/ICCAR.2016.7486693