Abstract
In this paper, a conceptual design of a Delta robot is developed by means of a mechatronic design methodology. A fully integrated conceptual design, clarifying the recurrence of the conceptual design process using black-box/white-box analysis, is presented using the Model Based Systems Engineering (MBSE) paradigm and the SysML language as the formal modeling tool. Multiple designs proposals are then evaluated by the non-linear Choquet integral in order to choose the most appropriate according to a multicriteria requirement. For a preliminary conceptual design, structural parameters for the Delta robot are determined by defining and solving a nonlinear constrained optimization problem, which considers the kinematic model of the robot maximizing its workspace. Both the decision making and the optimization problem are integrated and automated into a common software framework for the design process, by using a standard genetic algorithm and Monte Carlo method to set the optimized conceptual design to be rendered in Computer Aided Design (CAD) software and in a physical prototype, satisfying the technical specifications.
Highlights
A Delta robot is a high speed, light-load parallel robot
The design framework allows for automated conceptual design optimization, which is a remarkable difference from other approaches for Delta robot design
We address the formal mechatronic design of a Delta robot implementing black-box/white-box analyzes within the Model Based Systems Engineering (MBSE) approach using SysML
Summary
A Delta robot is a high speed, light-load parallel robot. It has relevant features such as light weight, small volume, fast speed, precise positioning, and high efficiency, and it is mainly used for processing, sorting, and packaging of food, electronics, and medicines [1].Parallel manipulators have advantages over their counterpart serial robots, essentially because the load is shared by several links connecting the mobile platform to the base.parallel manipulators have small workspace and singularity problems [2]. A Delta robot is a high speed, light-load parallel robot. It has relevant features such as light weight, small volume, fast speed, precise positioning, and high efficiency, and it is mainly used for processing, sorting, and packaging of food, electronics, and medicines [1]. Parallel manipulators have advantages over their counterpart serial robots, essentially because the load is shared by several links connecting the mobile platform to the base. Parallel manipulators have small workspace and singularity problems [2]. A considerable amount of research has been focused on the design and development of parallel manipulators (PMs) due to their advantages over serial manipulators in terms of high precision, velocity, stiffness, and payload capacity [3]. Its design remains as a challenging problem in engineering
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