Jinsoo Choi, Kihyun Kim, and Hyo-young Kim


  1. [1] R. Clavel, DELTA, a fast robot with parallel geometry, 18thInt. Symp. on Industrial Robots, Lausanne, Switzerland, 1988,91–100.
  2. [2] Z. Pandilov and V. Dukovski, Comparison of the characteristicsbetween serial and parallel robots, Acta Technica Corviniensis-Bulletin of Engineering, Tome VII (Fascicule 1), 2014,143–160.
  3. [3] L.W. Tsai, Robot analysis: the mechanics of serial and parallelmanipulators (New York: Wiley -Interscience Publication,1999).
  4. [4] M. Pranav, A. Mukilan, and C.S. Sundar Ganesh, A noveldesign of delta robot, International Journal of MultidisciplinaryResearch and Modern Education, 2(2), 2016, 365–377.
  5. [5] R.L. Williams II, The delta parallel robot: kinematics solutions,Department of Mechanical Engineering, Ohio University, Ohio,2016.
  6. [6] D. Kanaan, P. Wenger, and D. Chablat, Kinematic analysis of aserial-parallel machine tool: the VERNE machine, Mechanismand Machine Theory, 44(6), 2009, 487–498.
  7. [7] Q. Zhe, L. Xiao-Chu, and Z. Zhuan, Delta parallel robot basedon crank-slider mechanism, International Journal of Roboticsand Automation, 6(2), 2017, 112–120.
  8. [8] J. Sanjuan, M. Rahman, and I. Rulik, Forward kinematicanalysis of Dobot using closed-loop method, InternationalJournal of Robotics and Automation, 9(3), 2020, 153–159.
  9. [9] D.C. Carp-Ciocardia, Dynamic analysis of Clavel’s delta paral-lel robot, Proc. of the IEEE International Conference Robotics& Automation, Taipei, Taiwan, 2003, 4116–4121.
  10. [10] M. Lopez, E. Castillo, G. Garcıa, and A. Bashir, Delta robot:inverse, direct, and intermediate Jacobians, Proceedings ofthe Institution of Mechanical Engineers Part C: Journal ofMechanical Engineering Science, 220(1), 2006, 103–109.
  11. [11] F.C. Can, M. Hepeyiler, and ¨O. Baer, A novel inverse kinematicapproach for delta parallel robot, International Journal ofMaterials, Mechanics and Manufacturing, 6(5), 2018, 321–326.
  12. [12] O. Meng, F. Xie, and X.J. Liu, Conceptual design and kinematicanalysis of a novel parallel robot for highspeed pick-and-placeoperations, Frontiers of Mechanical Engineering, 13(2), 2018,211–224.
  13. [13] F. Ionescu ad D. Stefanoiu, HYPAS – A modular structuredmodel design, simulation and control programming environ-ment, Proc. of the IASTED Int. Conf. on Artificial and Com-putational Intelligence, Tokyo, Japan, 2002, 324–239.
  14. [14] Y.Z. Zhao, H.N. Yu, J. Zhang, J.T. Yang, and T.S. Zhao,Kinematics, dynamics and control of a stabilized platform witha 6-RUS parallel mechanism, International Journal of Roboticsand Automation, 32(3), 2017, 283–290.
  15. [15] Q. Yu, G. Wang, T. Ren, L. Wu, and K. Chen, An efficientalgorithm for inverse kinematics of robots with non-sphericalwrist, International Journal of Robotics and Automation, 33(1),2018, 45–52.
  16. [16] H. Tang, D. Zhang, S. Guo, H. Qu, and G. Huang, Kinematicsanalysis of a novel 2r1t parallel mechanism, InternationalJournal of Robotics and Automation, 33(2), 2018, 120–132.
  17. [17] A. Codourey, Dynamic modeling of parallel robots forcomputed-torque control implementation, The InternationalJournal of Robotics Research, 17(12), 1998, 1325–1336.
  18. [18] P. Xu, B. Li, C.-F. Cheung, J.-F. Zhang, Stiffness model-ing and optimization of a 3-DOF parallel robot in a serial-parallel polishing machine, International Journal of PrecisionEngineering and Manufacturing, 18(4), 2017, 497–507.
  19. [19] M. Weck and D. Staimer, Parallel kinematic machinetools-current state and future potentials, CIRP Annals-Manufacturing Technology, 51(2), 2002, 671–683.
  20. [20] P. Guglielmetti and R. Longchamp, A closed form inversedynamics model of the delta parallel robot, Proc. of the 1994Int. Federation of Automatic Control Conf. on Robot Control,Capri, Italy, 1994, 39–44.
  21. [21] L.W. Tsai, Solving the inverse dynamics of a Stewart–Goughmanipulator by the principle of virtual work, ASME Journalof Mechanical Design, 122(1), 2000, 3–9.
  22. [22] M.A. Laribi, L. Romdhane, and S. Zeghloul, Analysis anddimensional synthesis of the DELTA robot for a prescribedworkspace, Mechanism and Machine Theory, 42(7), 2007,859–870.
  23. [23] M.A. Laribi, L. Romdhane, S. Zeghloul, and H Wu, Advancedsynthesis of the DELTA parallel robot for a specified workspace,in Parallel manipulators towards new applications (London:Intech, 2008).

Important Links:

Go Back