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Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate

  • MECHANICS OF MACHINES
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Abstract

The delta robot is considered one of the most well-known representatives of manipulation devices with a parallel structure. It includes three kinematic chains, each containing a rotary drive and a hinged parallelogram. We present solutions to the kinematics problems, including the position problems and the precision analysis problems. When solving them, we applied the screw calculus and showed that contiguity to singular positions causes a repeatability deterioration.

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Authors and Affiliations

  1. Omsk State Technical University, 644050, Omsk, Russia

    E. S. Gebel

  2. Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia

    A. B. Lastochkin, A. A. Romanov & L. V. Gavrilina

  3. Kosygin State University of Russia, 119071, Moscow, Russia

    M. V. Glazunov

Authors
  1. E. S. Gebel
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  2. A. B. Lastochkin
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  3. A. A. Romanov
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  4. L. V. Gavrilina
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  5. M. V. Glazunov
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Corresponding author

Correspondence to L. V. Gavrilina.

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The authors declare that they have no conflicts of interest.

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Translated by I. Dikhter

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Gebel, E.S., Lastochkin, A.B., Romanov, A.A. et al. Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate. J. Mach. Manuf. Reliab. 52, 187–199 (2023). https://doi.org/10.3103/S1052618823030068

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