Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy

Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy

This article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree of freedom (rotation) is kinematically decoupled f...

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Bibliographic Details
Main Authors: Pavel Laryushkin, Anton Antonov, Alexey Fomin, Oxana Fomina
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Robotics
Subjects:
redundantly actuated parallel robot
Delta-type robot
5-DOF manipulation
3T2R motion pattern
inverse kinematics
forward kinematics
Online Access:https://www.mdpi.com/2218-6581/14/1/1
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