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An application of screw theory to the kinematic analysis of a Delta-type robot

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Abstract

This paper reports on the kinematics of a translational parallel manipulator whose topology is close to the architecture of the famous Delta robot. The displacement analysis is presented in closed-form solution by applying a new strategy based on the unknown coordinates of a point embedded to the moving platform. The input-output equations of velocity and acceleration of the robot are systematically obtained by resorting to reciprocal-screw theory. The singularities of the mechanism are explained through the input-output equation of velocity. Finally, a numerical example is provided to show the application of the method.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Instituto Tecnologico de Celaya, Guanajuato, GTO, Mexico

    Jaime Gallardo-Alvarado

  2. Centro de Investigacion en Ciencia Aplicada y Tecnologia Avanzada, Instituto Politecnico Nacional, Queretaro, Qro, Mexico

    Albert L. Balmaceda-Santamaría & Eduardo Castillo-Castaneda

Authors
  1. Jaime Gallardo-Alvarado
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  2. Albert L. Balmaceda-Santamaría
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  3. Eduardo Castillo-Castaneda
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Corresponding author

Correspondence to Jaime Gallardo-Alvarado.

Additional information

Recommended by Associate Editor Jong Hyeon Park

J. Gallardo-Alvarado received the B.Sc. and M.Sc. degrees in Mechanical Engineering from Instituto Tecnológico de Celaya, México, in 1985 and 1988 respectively; and the Ph.D. in electrical engineering from Instituto Tecnológico de la Laguna, México, in 1999. Dr. Gallardo is a current full time professor at the Department of Mechanical Engineering of the Instituto Tecnológico de Celaya.

A. L. Balmaceda-Santamaría graduated in Industrial Engineering from Universidad Nacional de Ingeniería (UNI) in 2009. He received the M. en T. A. from IPN — CICATA, Querétaro in 2011. Currently, his Ph.D. study is in advanced technology from IPN — CICATA, Querétaro.

E. Castillo-Castaneda received the degree of Mechanical-Electrical Engineering in 1987 from the National Autonomous University of Mexico. In 1994 he obtained the Ph.D. from Grenoble Institute of Technology, France, in Automatic Control. He is currently a professor at the National Polytechnic Institute, Mexico. His current research is related to precision engineering, computer vision, and design and control of parallel manipulators.

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Gallardo-Alvarado, J., Balmaceda-Santamaría, A.L. & Castillo-Castaneda, E. An application of screw theory to the kinematic analysis of a Delta-type robot. J Mech Sci Technol 28, 3785–3792 (2014). https://doi.org/10.1007/s12206-014-0841-8

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  • DOI: https://doi.org/10.1007/s12206-014-0841-8

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