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Shaking Force Balancing of the Delta Robot

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Academic year: 2021

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FIGURE 1:  THE BASIC VERSION OF THE DELTA ROBOT It should be noted that the shaking force and shaking  moment balancing of parallel robots is a complicated problem  because it can only be achieved either by an unavoidable  increase of the total mass of mov
FIGURE 4:  THE DELTA ROBOT WITH SUBSTITUTED POINT  MASSES AND ITS COMMON CENTER OF MASS
FIGURE 6:  VARIATIONS OF SHAKING MOMENTS FOR TWO  STUDIED CASES
FIGURE 7:  VARIATIONS OF SHAKING FORCES OF THE  DELTA ROBOT WITH PAYLOAD FOR TWO STUDIED CASES

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