Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate.

The delta robot is considered one of the most well-known representatives of manipulation devices with a parallel structure. It includes three kinematic chains, each containing a rotary drive and a hinged parallelogram. We present solutions to the kinematics problems, including the position problems and the precision analysis problems. When solving them, we applied the screw calculus and showed that contiguity to singular positions causes a repeatability deterioration. [ABSTRACT FROM AUTHOR]