Study the best configurations _ Case 1

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Case 1: It is the most used, 2 arms in parallel (delta 2)

Case 1.1: Distance between motors: 50 mm

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Case 1.1.1:

• L1 = 100;
• L2 = 150;
• y _ work area = -130 mm

Conclusion:

• torque maximum: upper left point and the upper right point (Bin = 505)
• singularity risk: None
• collision risk (with yourself): upper left point and the upper right point

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Case 1.1.2:

• L1 = 100;
• L2 = 150;
• y _ work area = -165 mm (maximum without singularity)

Conclusion:

• torque maximum: increased compared to case 1.1.1 (Bin = 540)
• singularity risk: moderate
• collision risk (with yourself): None

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Case 1.1.3:

• L1 = 100;
• L2 = 100;
• y _ work area: -120 mm (minimum)

Conclusion:

• arms too short to secure the entire working area

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Case 1.1.4:

• L1 = 100;
• L2 = 125;
• y _ work area = -120mm

Conclusion:

• torque maximum: decreased slightly compared to case 1.1.1 (Bin = 495)
• almost the same as case

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Case 1.1.5:

• L1 = 150;
• L2 = 100;
• y _ work area = -170mm (minimum)

Conclusion:

• L1 > L2 has not shown to be advantageous

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Case 1.2: Distance between motors: 100 mm

Caso 1.2.1: equal to the best of case 1.1

• L1 = 100;
• L2 = 150;
• y _ work area = -130mm

Conclusion:

• torque maximum: has increased a lot
• there is no advantage in increasing the distance between the motors