Abstract

SANCHEZ-ALONSO, Róger Ernesto; CASTILLO-CASTANEDA, Eduardo; GONZALEZ-BARBOSA, José Joel  and  BALMACEDA-SANTAMARIA, Albert Lester. Kinetostatic Performance Analysis of a Reconfigurable Delta-Type Parallel Robot. Ing. invest. y tecnol. [online]. 2015, vol.16, n.2, pp.213-224. ISSN 2594-0732.

This paper presents the kinetostatic performance analysis of a reconfigurable Deltatype parallel robot when a geometrical reconfiguration strategy is done. Three reconfiguration alternatives were evaluated, and the chosen strategy was based on the symmetrical size adjustment of the robot's fixed base. The analysis of the geometrical reconfiguration's effect on the robot's kinetostatic performance is obtained with the condition number of the Jacobian matrix, for which it was previously needed to develop the position and velocity kinematic model of the manipulator. Both approaches are different from those commonly found in the literature; with the velocity analysis standing out by the use of screw theory. The results of this work suggest a geometric strategy of reconfiguration for the improvement of the kinetostatic performance of the Delta robot in the entirety of its operable workspace. In addition, this work shows the convenience of the use of the condition number of the Jacobian matrix as criteria for determining the optimal geometric configuration of the manipulator inside certain parameters.

Keywords : Delta-type parallel robot; reconfigurable; Jacobian matrix; condition number.

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