 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12949 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8096
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| In English (Mech. Solids): | | 4853 |
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| A.V. Antonov, P.A. Laryushkin, and A.S. Fomin, "Kinematic Analysis of a Novel 5-DOF Delta-type Parallel Robot," Mech. Solids. 59 (4), 1920-1929 (2024) |
| Year |
2024 |
Volume |
59 |
Number |
4 |
Pages |
1920-1929 |
| DOI |
10.1134/S0025654424603355 |
| Title |
Kinematic Analysis of a Novel 5-DOF Delta-type Parallel Robot |
| Author(s) |
A.V. Antonov (Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, 101000 Russia, antonov.av@imash.ru)
P.A. Laryushkin (Bauman Moscow State Technical University, Moscow, 105005 Russia, pav.and.lar@gmail.com)
A.S. Fomin (Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, 101000 Russia, alexey-nvkz@mail.ru) |
| Abstract |
Nowadays, various Delta-type robots are widely used in many technological fields. In this
work, we propose a novel 5-DOF Delta-type parallel robot with four linear and one rotational actuators. The major part of the article is devoted to the kinematic analysis of the robot, including solving
its inverse and forward kinematic problems. To demonstrate the developed techniques, we consider
two numerical examples. In the first one, we solve the inverse kinematics and determine the actuator
displacements required to realize a spatial trajectory of the output link. The forward kinematic analysis, presented in the second example, results in six different assembly modes of the robot for the given
set of the actuator displacements. The proposed algorithms represent the basis for subsequent velocity,
acceleration, and dynamic analysis of the robot, and they can be adapted to other Delta-type parallel robots. |
| Keywords |
Delta robot, parallel structure, inverse kinematics, forward kinematics, assembly mode |
| Received |
17 March 2024 | Revised |
03 April 2024 | Accepted |
07 April 2024 |
| Link to Fulltext |
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