Workspace and Dexterity Analyses of the Delta Hexaglide Platform

Abstract

We propose for analyzing the Delta Hexaglide platform manipulator workspace through inverse kinematics to guarantee that all branches of the workspace are preserved. Workspace is analyzed using the marching cube. Dexterity is derived for the platform. Workspace and dexterity results are combined and presented in color or gray-level images for different Delta Hexaglide platforms. Parametric design of Delta Hexaglide workspace is also included in this research.