Workspace, Singularity, and Dexterity Analyses of a Six-Degrees-of-Freedom SDelta Robot With an Orthogonal Base Platform

The SDelta is a three-limb, six-degrees-of-freedom parallel kinematics machine, a pertinent candidate for high-speed operations by virtue of its simple architecture. The original design of the SDelta includes a planar base and moving platforms. Here, we propose a novel architecture for an improved SDelta, the orthogonal SDelta (OSD), with a cube-shaped orthogonal base platform. Inverse and forward position models are reported, along with singularity and dexterity analyses. Moreover, design parameters and mechanical constraints leading to a singularity-free workspace are provided. An evaluation of the system translational workspace and orientational capability, upon consideration of volume and dexterity, is included. The SDelta as well as a generic 6SPS mechanism (C, P, and S denote, respectively, the cylindrical, prismatic, and spherical kinematic pairs, the actuated pair is represented underlined, as P) are designed with the same parameters, then the performance of the SDelta, the OSD, and the 6SPS mechanisms are being compared. The results show that the orientational capability of the OSD is better than those of the 6SPS and the SDelta. Furthermore, the OSD has an average condition number of 2.9 over its translational workspace and 1.69 over a predefined effective regular workspace, which make the OSD a good candidate for operations that need both a high orientational capability and high dexterity.