Abstract
This paper treats the workspace analysis of a delta-like robot using a different placement of the actuators to improve the overall reachable workspace. Instead of having the actuators separated 120° between each other, it is proposed to provide different separations to create a greatly improved workspace suitable for custom applications. The general analysis of inverse and direct kinematics is explained and implemented in a software created to analyse this type of robot. Finally a comparison to prove the advantages of changing the angles between legs is shown.
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Gutiérrez-Preciado, A., González-Palacios, M.A., Aguilera-Cortés, L.A. (2015). Workspace Analysis of a Delta-Like Robot Using an Alternative Approach. In: Ceccarelli, M., Hernández Martinez, E. (eds) Multibody Mechatronic Systems. Mechanisms and Machine Science, vol 25. Springer, Cham. https://doi.org/10.1007/978-3-319-09858-6_43
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DOI: https://doi.org/10.1007/978-3-319-09858-6_43
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