Determining the Shape and Volume of the Work Space for the Robot with Parallel Structure Delta 3DOF Using the Monte Carlo Method

Abstract:

During the latest years the parallel structure robots have been used more and more due to their advantages that consist of: high stiffness, availability for usage at higher speed and acceleration rates, compared to the serial structure robots [. The robots with Delta 3DOF parallel structure are met in the fields where the handling of light objects at high speeds and accelerations is required. One of the disadvantages of the parallel structure robots compared to the serial structure robots would be the fact that the first have a quite narrow work space. For this reason the researches on the analysis and optimization of the work space intensified in the last period of time. This work is approaching the analysis of the work space of the robots with Delta 3DOF parallel structure, by using a method that has a numerical solving. The usage of this method is advantageous in terms of the relatively short time needed for determining the shape and volume of the work space, compared to the other numerical methods.

• Periodical: Applied Mechanics and Materials (Volume 332)
• Pages: 200-205
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.332.200
• Online since: July 2013
• Authors: Dragoș Andrioaia, Gheorghe Stan, Marius Pascu, Lucian Adrian Mihaila
• Keywords: Delta 3DOF Parallel Structure, Monte-Carlo Method (MC-Method), Work Space Analysis, Work Space Simulation

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