2009 | OriginalPaper | Chapter
Dynamic Balancing of Clavel’s Delta Robot
Authors : V. van der Wijk, J. L. Herder
Published in: Computational Kinematics
Publisher: Springer Berlin Heidelberg
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The Delta robot has shown to be a useful device in many applications. Due to large accelerations however, vibrations can decrease the accuracy and performance considerably. Instead of common techniques to reduce vibrations such as damping or including waiting times in the motion cycle, this article shows how the Delta robot can be dynamically balanced in a practical way by which all vibrations are eliminated. Because of its specific architecture, the Delta robot can be force balanced with only three counter-masses and two additional links. Moment balancing can be achieved by active actuation of three additional rotating inertias.