Design and Development of Multipurpose Delta Robot

Abstract

Abstract: This report represents an designing and simulating ideal pick and place robot which should carry out the operations in minimum time and should also be cost efficient. It is four degrees of freedom parallel configuration used for very high speed pick and place operations. The objectives of this report are designing a Delta robot capable of carrying 1kg payload, achieving a cycle rate of 120 cycles per minute covering a work volume of 400x300x200 mm3. The project involves Kinematic & Dynamic modeling of the robot for the above specifications. The kinematic parameters, involving the lengths of the bicep and forearm, are calculated based on the work volume requirements and the dynamic parameters, involving the motor torque and speed, are calculated based on the maximum acceleration requirements and the inertia of the system. The project further involves the structural analysis of the robot which deals with the proper sizing of the mechanical structure which should be capable of withstanding the high torque and acceleration required for smooth and fast motion. The future work involves integrating the mechanical system with the control system and programming the system for a particular application