Analysis of the mass distribution of a functionally extended delta robot
We show a decision analysis to extend the functionality of a delta robot. We endowed the robot with additional DOF to enhance its motion capability. Different motor arrangements are considered to reduce moving masses. Dynamic models were developed using NewtonEuler and Lagrange formalisms. Results are carried out using a pick-and-place operation as sample application.
delta parallel robot newtoneuler dynamics trajectory planning lagrange dynamics