Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances
Delta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precision and motor behavior. The paper highlights the inf...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/11/6693 |
| _version_ | 1797597861619171328 |
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| author | Nadia Cretescu Mircea Neagoe Radu Saulescu |
| author_facet | Nadia Cretescu Mircea Neagoe Radu Saulescu |
| author_sort | Nadia Cretescu |
| collection | DOAJ |
| description | Delta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precision and motor behavior. The paper highlights the influence on the dynamic behavior of a Delta robot by considering individual and combined effects of clearances and friction in the spherical joints, as well as the flexibility of the rod elements. The CAD modeling of the Delta robot and its motion simulation on a representative spatial trajectory where the maximum allowed values of speed and acceleration are reached were performed using the Catia and Adams software packages. The obtained results show that the methods used were successfully applied and the effects are mutually interconnected, but not cumulative. |
| first_indexed | 2024-03-11T03:11:22Z |
| format | Article |
| id | doaj.art-492328bbd8254d10ab56520baaf3e734 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T03:11:22Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-492328bbd8254d10ab56520baaf3e7342023-11-18T07:35:30ZengMDPI AGApplied Sciences2076-34172023-05-011311669310.3390/app13116693Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint ClearancesNadia Cretescu0Mircea Neagoe1Radu Saulescu2Renewable Energy Systems and Recycling R&D Centre, Faculty of Product Design and Environment, Transilvania University of Brasov, 500036 Brasov, RomaniaRenewable Energy Systems and Recycling R&D Centre, Faculty of Product Design and Environment, Transilvania University of Brasov, 500036 Brasov, RomaniaDesign of Mechanical Elements and Systems R&D Centre, Faculty of Product Design and Environment, Transilvania University of Brasov, 500036 Brasov, RomaniaDelta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precision and motor behavior. The paper highlights the influence on the dynamic behavior of a Delta robot by considering individual and combined effects of clearances and friction in the spherical joints, as well as the flexibility of the rod elements. The CAD modeling of the Delta robot and its motion simulation on a representative spatial trajectory where the maximum allowed values of speed and acceleration are reached were performed using the Catia and Adams software packages. The obtained results show that the methods used were successfully applied and the effects are mutually interconnected, but not cumulative.https://www.mdpi.com/2076-3417/13/11/6693parallel robotDelta manipulatordynamicflexible linkjoint clearancejoint friction |
| spellingShingle | Nadia Cretescu Mircea Neagoe Radu Saulescu Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances Applied Sciences parallel robot Delta manipulator dynamic flexible link joint clearance joint friction |
| title | Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances |
| title_full | Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances |
| title_fullStr | Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances |
| title_full_unstemmed | Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances |
| title_short | Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances |
| title_sort | dynamic analysis of a delta parallel robot with flexible links and joint clearances |
| topic | parallel robot Delta manipulator dynamic flexible link joint clearance joint friction |
| url | https://www.mdpi.com/2076-3417/13/11/6693 |
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