Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom

Abstract

This work is dedicated to consideration of generalized mathematical models of parallel structure of the Delta type. The main design dependences for kinematic chains with four or six degrees of freedom are presented. An example of calculation of the working space, as well as the solutions of inverse problem on speeds (using theory of screws) for the mechanism with four degrees of freedom, are presented.