Unified Kinematics of Prismatically Actuated Parallel Delta Robots

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dc.authoridÖzen, Özhan/0000-0003-4517-3549
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.authorwosidBaran, Eray/U-3499-2019
dc.authorwosidÖzen, Özhan/AAK-4476-2021
dc.contributor.authorBaran, Eray A.
dc.contributor.authorOzen, Ozhan
dc.contributor.authorBilgili, Dogacan
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2024-07-18T20:56:55Z
dc.date.available2024-07-18T20:56:55Z
dc.date.issued2019
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractThis paper presents a unified formulation for the kinematics, singularity and workspace analyses of parallel delta robots with prismatic actuation. Unlike the existing studies, the derivations presented in this paper are made by assuming variable angles and variable link lengths. Thus, the presented scheme can be used for all of the possible linear delta robot configurations including the ones with asymmetric kinematic chains. Referring to a geometry-based derivation, the paper first formulates the position and the velocity kinematics of linear delta robots with non-iterative exact solutions. Then, all of the singular configurations are identified assuming a parametric content for the Jacobian matrix derived in the velocity kinematics section. Furthermore, a benchmark study is carried out to determine the linear delta robot configuration with the maximum cubic workspace among symmetric and semi-symmetric kinematic chains. In order to show the validity of the proposed approach, two sets of experiments are made, respectively, on the horizontal and the Keops type of linear delta robots. The experiment results for the confirmation of the presented kinematic analysis and the simulation results for the determination of the maximum cubic workspace illustrate the efficacy and the flexible applicability of the proposed framework.en_US
dc.description.sponsorshipTubitak [110M425, 114M578]en_US
dc.description.sponsorshipThe authors would gratefully acknowledge Tubitak Projects 110M425 and 114M578 for the partial financial supports provided for this research.en_US
dc.identifier.doi10.1017/S0263574719000092
dc.identifier.endpage1532en_US
dc.identifier.issn0263-5747
dc.identifier.issn1469-8668
dc.identifier.issue9en_US
dc.identifier.scopus2-s2.0-85073091525en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1513en_US
dc.identifier.urihttps://doi.org/10.1017/S0263574719000092
dc.identifier.urihttps://hdl.handle.net/11411/8895
dc.identifier.volume37en_US
dc.identifier.wosWOS:000478950600003en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherCambridge Univ Pressen_US
dc.relation.ispartofRoboticaen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectLinear Delta Roboten_US
dc.subjectUnified Kinematicsen_US
dc.subjectAsymmetric Delta Roboten_US
dc.subjectMaximum Symmetric Workspaceen_US
dc.subjectGeneralized Singularitiesen_US
dc.subjectDesignen_US
dc.subjectOptimizationen_US
dc.subjectManipulatoren_US
dc.subjectFabricationen_US
dc.subjectMachineen_US
dc.subjectInverseen_US
dc.subjectModelen_US
dc.titleUnified Kinematics of Prismatically Actuated Parallel Delta Robotsen_US
dc.typeArticleen_US

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