Designing and optimization of parameters of delta‐4 parallel manipulator for a given workspace

Abstract

Abstract In the paper, the algorithm of designing some geometrical parameters of a Delta parallel manipulator has been described. The manipulator is to work in a specified workspace, which is given as a set of points. The first step of the algorithm seeks the possible solutions, and because there are an infinite number of them, the objective of the second step is to limit the number by an optimization. Owing to this, it is possible to find parameters of the manipulator, whose workspace contains the specified points. © 2003 Wiley Periodicals, Inc.