The NUWAR Project
Optimising
the workspace
The NUWAR Project
Optimising
the workspace
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During 1997, Dr Karol Miller
and his assistant, Matthew Jayarama, investigated the effect of rotating
the previously co-planar motors of the Delta-4. A computer model was constructed
using the analysis package "ADAMS", and the results showed that the workspace
could be increased by 9.4%. The motors were rotated in both the horizontal
and vertical directions, and the angles, a
and b, optimised
to give the maximum workspace.
Additionally, to improve the already excellent rigidity of the Delta-4, the ball joints in the arms were replaced by pins. This also simplifies the dynamic analysis of the system.
Confused? The two images
below were produced using MATLAB, and show the original Delta-4 configuration
(left) and the optimised NUWAR design (right).
Click here to view
a simple MATLAB animation of NUWAR. Note: you must have a compatible mpeg
player - "Windows Media Player" is recommended
.gif){kind=small}
more on the project
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Department of Mechanical and Materials Engineering
The University of Western Australia
Nedlands, Perth, Western Australia 6009
WEB DESIGN: ZEIKE TAYLOR
zeike@tartarus.uwa.edu.au