Experimental set-up for the investigation of transmissions effects on the dynamic performances of a linear PKM

The parallel kinematics robots exhibit a typical dynamic feature arising from their peculiar kinematic configuration. Thanks to these characteristics, parallel kinematic robots are suitable both for high dynamics applications and when high stiffness is required. When, according to the application, the key-point is dynamic performance, transmissions with low inertia should be used. Moreover, the overall performances of the system depend not only on the kinematic structure of the manipulator but also on transmission system; hence, in order to get the expected system’s performances, the synthesis requires a synergic design approach. This paper deals with the set-up of a Linear Delta Robot, designed and built by the Mechatronics and Mechanical Dynamics Lab. of the University of Bergamo, with sensors both on the joints and on the end-effector, in order to investigate the influence of the transmissions on the dynamic performances of a inear delta manipulator.