Optimal design of the linear delta robot for prescribed cuboid dexterous workspace based on performance chart

摘要

Determine an optimal set of design parameter of PR whose DW fits a prescribed workspace as closely as possible is an important and foremost design task before manufacturing. In this paper, an optimal design method of a linear Delta robot (LDR) to obtain the prescribed cuboid dexterous workspace (PCDW) is proposed. The optical algorithms are based on the concept of performance chart. The performance chart shows the relationship between a criterion and design parameters graphically and globally. The kinematic problem is analyzed in brief to determine the design parameters and their relation. Two algorithms are designed to determine the maximal inscribed rectangle of dexterous workspace in the O-xy plane and plot the performance chart. As an applying example, a design result of the LDR with a prescribed cuboid dexterous workspace is presented. The optical results shown that every corresponding maximal inscribed rectangle can be obtained for every given RATE by the algorithm and the error of RATE is less than 0.05. The method and the results of this paper are very useful for the design and comparison of the parallel robot.