Romansy 13 pp 67-74 | Cite as

Mechanics of the New UWA Robot

  • Karol Miller
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


New University of Western Australia Robot is a variation of the well-known Delta parallel robot. Parallel manipulators possess a number of advantages when compared to traditional serial arms. They offer generally much higher rigidity and smaller mobile mass than their serial counterparts. These features allow much faster and more precise manipulations. The main disadvantage of parallel robots is their small workspace in comparison to serial arms of similar size. Our previous work investigated the influence of motor axes orientation on the workspace volume of Delta type manipulators. This research has shown that the Delta configuration is not optimal and that the configuration characterized by degrees — the inclination of each motor axis to the horizontal plane (for Delta robot α = 0 degrees), and β=60 degrees — rotation of each motor with respect to the vertical axis (for Delta robot β=0 degrees), known as the New University of Western Australia Robot — NUWAR — may be advantageous. This contribution presents NUWAR’s workspace volume and shape as well as results in kinematics of NUWAR. It was shown, that like for the Delta, there existed analytical closed form solutions of inverse as well as forward kinematics problems. Simulations of trajectories of various shapes (straight line, ellipse, sheared ellipse, cycloid, etc.) confirmed the appropriateness of methods used. The model of kinematics was implemented in the comprehensive Matlab simulation suite, which enables a user to specify trajectories in Cartesian or joint space, and conduct kinematic analyses of the manipulator. The NUWAR direct drive prototype was constructed and is now capable of achieving accelerations of 600 m/s2.


Parallel Manipulator Kinematic Chain Revolute Joint Parallel Robot Analytical Closed Form Solution 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Karol Miller
    • 1
  1. 1.Department of Mechanical and Materials EngineeringThe University of WesternAustralia

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