The 3D-Printed Low-Cost Delta Robot Óscar: Technology Overview and Benchmarking
The 3D-Printed Low-Cost Delta Robot Óscar: Technology Overview and Benchmarking
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3D 打印低成本 Delta 机器人 Óscar：技术概述和基准测试
DOI：
10.3390/asec2021-11173
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Fernando A. V. Figueiredo
中科院分区：
文献类型：
--
作者：
C. Vasques;Fernando A. V. Figueiredo
机器人技术无疑是现代技术在改变我们社会本质方面最重要的领域之一。并联Delta机器人长期以来主要专注于利基市场，但与串联拟人机器人相比，它们具有几个简单和改进的动力学特性。增材制造（AM）和3D打印技术正在使机器人工程发生快速变化，正如我们所知，这使得机电一体化设计和创新具有更大的创造力和自由度。在几何形状、材料和制造可达性方面的深远设计自由的有效贝内现在开始变得明显，回答了许多复杂的技术问题和科学不确定性，这些问题超出了基本设计和功能知识，需要工程技能和科学分析。Delta机器人由于其简单性而成为最重要的工业化并联机器人之一，在这项工作中被考虑，它提供了新Smile.Tech的3D打印和低成本Delta机器人Oscar家族的多学科方面的概述。它包含了对Delta机器人的当前技术水平和使用的简要分析，以及对Delta架构、界面软件和虚拟操作环境的讨论。文章最后进行了市场分析，总结了主要制造商和目前可用的Delta型号，并对其主要操作和技术特征进行了基准研究。
: Robotics is undoubtedly one of the most influential fields of modern technology in changing the very nature of our society. Parallel Delta robots have for a long time been mainly focused on a niche market but compared to serial anthropomorphic robots they present several simplicity and improved dynamics features. Additive manufacturing (AM) and 3D-printing technologies are enabling rapid changes in robotic engineering as we classically know it, allowing for greater creativity and freedom in mechatronics design and innovation. The effective benefits of far-reaching design freedom in terms of geometry, materials, and manufacturing accessibility, are now starting to become apparent, answering many complex technical questions and scientific uncertainties that go beyond basic design and functional knowledge and that require engineering skills and scientific analysis. The Delta robot, as one of the most significant industrialized parallel robots due to its simplicity, is considered in this work, which provides an overview of the multidisciplinary aspects of the new Smile.Tech’s 3D-printed and low-cost Delta robot Oscar family. It contains a concise analysis of the current state of the art and use of Delta robots, as well as discussion of the Delta architecture, interface software, and virtual operation environments. The article concludes with a market analysis, a summary of the major manufacturers and currently available Delta models, and a benchmarking study of their major operating and technical features.