Abstract
This contribution presents a study on simplified dynamic modeling approaches of the Delta parallel robot . Complete and simplified dynamic modeling approaches are reviewed and compared in respect to their computation times. Also, the dependency of the accuracy on the mass distribution of the distal link is analyzed in detail and assessed based on a single industry-relevant pick-and-place trajectory as well as randomly generated Lissajous curves for (more) general validity.
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Brinker, J., Ingenlath, P., Corves, B. (2018). A Study on Simplified Dynamic Modeling Approaches of Delta Parallel Robots. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_13
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DOI: https://doi.org/10.1007/978-3-319-56802-7_13
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