Workspace analysis of a delta-like robot using an alternative approach

Abstract

This paper treats the workspace analysis of a delta-like robot using a different placement of the actuators to improve the overall reachable workspace. Instead of having the actuators separated 120° between each other, it is proposed to provide different separations to create a greatly improved workspace suitable for custom applications. The general analysis of inverse and direct kinematics is explained and implemented in a software created to analyse this type of robot. Finally a comparison to prove the advantages of changing the angles between legs is shown.