A reconfiguration strategy of a parallel delta-type robot to improve the kinematic performance

Abstract

In this work a reconfiguration strategy of a Delta-type robot to improve its kinematic performance is presented. The strategy considers an extra actuator that modifies locations and dimensions of the fixed platform. The direct kinematic analysis of the reconfigurable manipulator is determined to obtain the robot Jacobian, since this is used to analyse kinematic performance indices, such as Minimum singular value, Manipulability index and Global conditioned index.