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JRM Vol.20 No.1 pp. 7-17
doi: 10.20965/jrm.2008.p0007
(2008)

Paper:

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Workspace and Dexterity Analyses of the Delta Hexaglide Platform

Wu-Jong Yu*, Chih-Fang Huang**, and Wei-Hua Chieng*

*Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu, Taiwan, 30050, R.O.C.

**Music Technology Group of Music Institute, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu, Taiwan, 30050, R.O.C.

Received:
June 16, 2006
Accepted:
January 31, 2007
Published:
February 20, 2008
Creative Commons License
Keywords:
workspace, dexterity, Stewart platform, parallel manipulator, Delta Hexaglide platform
Abstract
We propose for analyzing the Delta Hexaglide platform manipulator workspace through inverse kinematics to guarantee that all branches of the workspace are preserved. Workspace is analyzed using the marching cube. Dexterity is derived for the platform. Workspace and dexterity results are combined and presented in color or gray-level images for different Delta Hexaglide platforms. Parametric design of Delta Hexaglide workspace is also included in this research.
Cite this article as:
W. Yu, C. Huang, and W. Chieng, “Workspace and Dexterity Analyses of the Delta Hexaglide Platform,” J. Robot. Mechatron., Vol.20 No.1, pp. 7-17, 2008.
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