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TECHNICAL PAPERS

Optimal Kinematic Design of Spatial Parallel Manipulators: Application to Linear Delta Robot

[+] Author and Article Information
Michael Stock, Karol Miller

School of Mechanical Engineering, The University of Western Australia, Crawley/Perth WA 6009, Australia

J. Mech. Des 125(2), 292-301 (Jun 11, 2003) (10 pages) doi:10.1115/1.1563632 History: Received August 01, 2001; Revised August 01, 2002; Online June 11, 2003
Copyright © 2003 by ASME
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References

Figures

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Rendered MATLAB representation of the Linear Delta
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Wireframe representation of Linear Delta showing nomenclature
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End view (y-z plane) of wireframe representation showing nomenclature
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Stick representation of the eight solutions for the inverse kinematics of the Linear Delta
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Forward kinematics of the Linear Delta visualized as the intersection of three spheres
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Workspace cross section for case 1
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Workspace cross section for case 2
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Workspace cross section of optimal design, with colors showing value of 1/κJ

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