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

Chung-Ping Young, Yen Bor Lin

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
發行者Institute of Electrical and Electronics Engineers Inc.
頁面29-33
頁數5
ISBN(電子)9781467398596
DOIs
出版狀態Published - 2016 六月 7
事件2nd International Conference on Control, Automation and Robotics, ICCAR 2016 - Hong Kong, Hong Kong
持續時間: 2016 四月 282016 四月 30

出版系列

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

Other

Other2nd International Conference on Control, Automation and Robotics, ICCAR 2016
國家Hong Kong
城市Hong Kong
期間16-04-2816-04-30

All Science Journal Classification (ASJC) codes

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

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  • 引用此

    Young, C-P., & Lin, Y. B. (2016). The spherical motion based on the inverse kinematics for a Delta robot. 於 Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016 (頁 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