On the manipulability of the Generalized Triangle Parallel Delta Robots

This article discusses the manipulability of the Gen-eralized Triangle Parallel Delta Robots (GTPR) through a rep-resentative example that compares the regular delta robots to a GTPR with specially tailored workspace. Our study is an attempt to demonstrate and underpin the usefulness of the GTPR concept by investigating the manipulability of the robot in the regions of the workspace which is made accessible by the individual parametrization of the GTPR. The paper derives the Jacobian and the manipulability ellipsoid via the screw theory formulation and presents a simple graphical overview to highlight the similarities and differences between the conventional delta robots and a typical GTPR variant.