Determining the Workspace in case of the Robots with Parallel Structure Delta 3DOF

Abstract

Within the last years, the robots with parallel structure Delta 3DOF are used more and more in applications that require: transporting objects at high speed, transporting heavy objects, at a high accuracy. Because the parallel structures have a limited workspace, researches on the workspace amplified lately. This work is approaching the study of determining the workspace for a parallel structure Delta 3DOF. The method being used allows the numerical determining of the workspace shape, as well as its limits. At the same time, this method helps with establishing the methods for optimizing the workspace so that the largest possible workspace is provided.