Performance analysis of 3 DOF Delta parallel robot

Parallel robots have inherent advantages for many applications in the fields of robotics. They offer high dynamic capabilities combined with high accuracy and stiffness. There are a lot of performance criteria which have to be taken into account and which are pose dependent. The main idea of this paper is to present the fundamentals for a performance evaluation of the 3 DOF Delta parallel robot. Therefore we discuss a large number of performance criteria dealing with workspace, quality transmission, manipulability, dexterity and stiffness.