DETERMINING THE WORKSPACE SHAPE OF A ROBOT WITH DELTA 3D OF PARALLEL STRUCTURE

During the latest years, the robots that include mechanisms with Delta 3D of parallel structure attracted the attention of the university research centers due to their unexploited potential. Besides the advantages given by the Delta 3D of parallel structure, there is a series of disadvantages too. A significant disadvantage is the fact that the workspace is limited. Under these conditions, the studies on determining and improving the workspace got intensified lately. This work is presenting a study on determining the workspace of a parallel structure Delta 3D of, by using a method that digitizes the angular position parameters of the active kinematical couplings.