Modelling and Simulation of a 3DOF End Effector for Material Handling with a Delta Robot

Abstract

In order to improve workspace and material handling system of the delta robot, This paper describes a design of an End-effector with 3 degrees of freedom (3DOF) which makes the End-effector more flexible and having sufficient range of working space. This End-effector will be mounted on a delta parallel robot to perform the desired task in handling materials accordingly. The robot is able to pick and place a given material to the right place and positioning as it is desired by the user. The methodology used to design this robot was based on 3 major components which are: Sliding rails which deals with translational motion along horizontal axis, this motion carries the whole system from side to side and is going to play a role of increasing workspace in either assembling line or picking and placing system. Delta robot is in charge of manipulating its end effector in 3 dimensions along (x, y, z - axis) according to the object tracking localization as a human’s arm manipulate the hand. The end effector’s purpose is to perform rotational motion then pick the object and place as the system requires, this performance has advantage of handling materials and positioning respectively. It showed that the proposed system is safe and is feasible for application. The proposed material handling system can minimize the disadvantages of utilizing a delta robot by attachment of the presented end-effector to the delta robot.