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首页> 外文会议>CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators >Lagrangian Based Dynamic Analyses of Delta Robots with Serial-Parallel Architecture
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Lagrangian Based Dynamic Analyses of Delta Robots with Serial-Parallel Architecture

机译：基于Lagrangian的Delta机器人与串行架构的动态分析

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30 years after the initial concepts, commercial Delta and Delta-like robots serve a niche market for high-speed pick-and-place applications. Expired patents and new fields of applications have led to increased research and development in recent years. The increased scientific focus on extended architectures with additional rotational dof resulted in different serial-parallel hybrid as well as fully-parallel designs. These concepts meet the industrial demands for novel complex handling tasks, increased payload capacities, and hygienic designs. This contribution presents kinematic and energy-based dynamic analyses for the classical Delta structure and six different extensions. Based on that, the required computation times and the influences of inertial effects are investigated.
机译：初始概念30年，商业三角洲和三角洲机器人为高速拣选和放置应用提供了一个利基市场。过期的专利和近年来的申请新领域导致了近年来的研发。在具有额外旋转DOF的扩展架构上的科学重点增加导致不同的串行平行混合动力以及全平行的设计。这些概念符合新型复杂处理任务，增加有效载荷能力和卫生设计的工业需求。此贡献为经典三角洲结构和六种不同的扩展提供了基于运动的动态分析。基于此，研究了所需的计算时间和惯性效应的影响。

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