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The 6-Dof 2-Deltaparallel robot

Published online by Cambridge University Press:  01 July 1997

J. P. Lallemand ,
A. Goudali  and
S. Zeghloul
J. P. Lallemand
Affiliation:
Laboratoire de Mécanique des Solides, U.M.R. C.N.R.S 6610, SP2MI-B.P. 179 86960 FUTUROSCOPE Cédex, France
A. Goudali
Affiliation:
Laboratoire de Mécanique des Solides, U.M.R. C.N.R.S 6610, SP2MI-B.P. 179 86960 FUTUROSCOPE Cédex, France
S. Zeghloul
Affiliation:
Laboratoire de Mécanique des Solides, U.M.R. C.N.R.S 6610, SP2MI-B.P. 179 86960 FUTUROSCOPE Cédex, France
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Abstract

In this paper, we will present a new 6-DOF parallel robot using a set oftwo Delta structures. An effective method is proposed to establish explicitrelationships between the end effector co-ordinates and the active and passivejoint variables. A simulation of the 2-Delta robot on a C.A.D. Robotics systemwill also be presented. This simulation will allow us to validate the cohesionof our calculations, and to show the workspace depending on the mechanicallimits on passive joints variables. Finally, an approach is proposed to studythe influence of small clearances of the passive joint on the precision of theposition and rotation of the effector. This approach is based on a conceptsimilar to that of Yoshikawa's manipulability.

Keywords

ParallelrobotUncoupledModelizationWorkspaceEllipsoid of clearance
Type
Research Article
Information
Robotica , Volume 15 , Issue 4 , July 1997 , pp. 407 - 416
Copyright
© 1997 Cambridge University Press

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