Study the best configurations _ Case 2

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Case 2: 2 arms in parallel (delta 2), but on the first arm use the second redundancy (elbow up) and on the second arm the first redundancy (elbow down)

Case 2.1: Distance between motors: 50 mm

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Case 2.1.1:

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

Conclusion:

• Exactly the same as case 1.1.1 #1

[TatianaResend]

Case 1.2: Distance between motors: 100 mm

Caso 2.1.1:

L1 = 100; L2 = 150; y _ work area = -130mm x_work area = same vertical as the first motor

Conclusion:

torque maximum: has increased a lot The advantage in this configuration would be compactibility but the torque disadvantage is high

[TatianaResend]

Conclusion:

• Changing the length of the arms will have the same effect as in case 1, as well as the distance between the motors

• Advantage: To form the parallelogram I only need one bar

• Disadvantage: more difficult to design because the arms have to be in different planes (Oy)