Date of Award
Master of Science in Mechanical Engineering (MSME)
One of the most important traits of a robotic manipulator is its work envelope, the space in which the robot can position its end effector. Parallel manipulators, while generally faster, are restricted by smaller work envelopes . As such, understanding the parameters defining a physical robot’s work envelope is essential to the optimal design, selection, and use of robotic parallel manipulators. A Linear Delta Robot (LDR) is a type of parallel manipulator in which three prismatic joints move separate arms which connect to a single triangular end plate . In this study, general inverse kinematics were derived for a linear delta robot. These kinematics were then used to determine the reachable points within a plane in the robot’s work envelope, incorporating the physical constraints imposed by a real robot. After simulating several robots of varying parameters, a linear regression was performed in order to relate the robot’s physical parameters to the inscribed radius of the area reachable in a plane of the LDR’s work envelope. Finally, a physical robot was constructed and used as a reality check to confirm the kinematics and inscribed radius. This study demonstrates the relationship between the LDR’s physical dimensions and the inscribed radius of its work envelope. Building a physical robot allowed confirmation of the resulting equation, validating an accurate representation of the LDR’s physical constraints. By doing so, the resulting equation provides a powerful tool for correctly sizing a LDR based on a desired work envelope.
Pauly, Michael Louis, "Workspace Analysis of a Linear Delta Robot: Calculating the Inscribed Radius" (2014). Graduate Theses - Mechanical Engineering. 1.