The "Phantom" Delta Robot A New Device for Parallel Robot Investigations

A new device is proposed for parallel robot investigations. Basically, a robot with equilateral basic and working triangles, driving arm and parallelogram connection is considered, which is called Clavel's Robot. This device is constructed in a way that the sizes of elements may be changed in certain regions. In doing so, different robots can be realized with the reconfiguration of the same device and different accuracy, stiffness, compliance, and force characteristics, etc. can be studied. For example: accuracy maps can be prepared. Through changing the constructional elements (principle, shape, strength, etc.) the effect of these changes may be estimated. We remark that the Phantom Robot may be used not only for the investigation of Clavel's but also, proposed by us the General Triangle Parallel Robot. The presented device is devoted to construction studies. Works can be extended further to the investigation of drives and controls. We considered it necessary to summarize, and give somewhat new directions, for the solutions of inverse and direct transformation problems. The realized device proved very suitable. The rather simple and cheap measurements were realized at the usual university laboratory level. The first experiments proved a good performance.