Determining the reachable workspace for 6-DOF delta manipulators

Abstract

This paper presents analytical methods that use the characteristics of workspace boundaries to predict the equations for developing workspaces of 6-DOF Delta manipulators. All the equations can be determined by some extreme points where all the limbs are at their joint limits. The study shows that the manipulators have two different types of workspaces. How to develop Delta manipulators with a better workspace is also investigated.