TY - GEN
T1 - The spherical motion based on the inverse kinematics for a Delta robot
AU - Young, Chung Ping
AU - Lin, Yen Bor
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/7
Y1 - 2016/6/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84978524643&partnerID=8YFLogxK
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U2 - 10.1109/ICCAR.2016.7486693
DO - 10.1109/ICCAR.2016.7486693
M3 - Conference contribution
AN - SCOPUS:84978524643
T3 - Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
SP - 29
EP - 33
BT - Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
Y2 - 28 April 2016 through 30 April 2016
ER -