Collision-free workspace and kinetostatic performances of a 4-DOF delta parallel robot

In this paper, the mechanical interference of the 4-DOF delta parallel robot, which is designated to be used as pick-and-place robot, within its practical workspace is investigated. A new geometric algorithm is introduced which enables to identify mechanical collisions, namely the collisions of links with each other and the collision of links with the installed conveyor at the bottom of the robots workspace. Obtaining the close-to-reality workspace, upon eliminating the parts which lead to collision, is an essential and undeniable process in the workspace analysis of a pick-and-place robot. Moreover, the most common kinetostatic performance indicators including sensitivity, dexterity, and manipulability for the first time are presented and investigated for the 4-DOF delta parallel robot within the workspace.