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Performance analysis of 3 DOF Delta parallel robot

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4 Author(s)
Stan, S. ; Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania ; Manic, M. ; Szep, C. ; Balan, R.

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.

Published in:

Human System Interactions (HSI), 2011 4th International Conference on

Date of Conference:

19-21 May 2011