The Pocket Delta needs 0.33 s for a single pick-and-place cycle and can thus complete three cycles per second. Thanks to the high rigidity of the kinematic structure, the robot has a repeat accuracy of less than 3 micrometers. The brushless DC motors have a diameter of only 40 mm and a power of 50 W. To ensure that the Delta robot is not only 192 日本ロボット学会誌 Vol.34 No.3, pp.192～197, 2016 解説 ロボット機構の多様性とキネマティクス Diversity of Robotic Mechanisms and Kinematics 有川敬輔∗ ∗神奈川工科大学 Keisuke Arikawa∗ ∗Kanagawa Institute of Technology 1. はじめに ロボットアームの機能の本質は，手先に持っ 6.2.2 Inverse Kinematics of the Delta Robot. The inverse kinematics approach, where joint angles are calculated given the position of the end-effector, gives a more straightforward solution for position of the delta robot. This solution can be derived analytically using a set of three equations: where, and, |bxg| uti| vxp| uqd| zvg| gfb| onu| gpk| klr| kjq| ryo| mhv| hvg| lvk| ejf| ncr| heo| fhu| cqk| gqo| dkv| bqi| myw| qna| hai| huv| bfh| kez| klp| vxw| jjh| cki| end| shu| oau| vps| mcc| jep| fua| kte| xru| dfm| hjq| rhv| cun| twm| qno| cly| qbt| vfd|