Abstract
This article describes a sophisticated determination and presentation of a workspace volume for a delta robot, with consideration of its kinematic behavior. With the help of theoretical equations, optimization is performed with the aid of the stiffness and dexterity analysis. Theoretical substructure is coded in Matlab and three-dimensional (3D) data for delta robot are developed in computer-aided design (CAD) environment. In later stages of the project, both 3D and theoretical data are linked together and thus, with the changing design parameter of the robot itself, the Solidworks CAD output adapts and regenerates output with a new set of parameters. To achieve an optimum workspace volume with predefined parameters, a different set of robot parameters are iterated through design optimization in Matlab, and the delta robot design is finalized and illustrated in the 3D CAD environment, Solidworks. This study provides a technical solution to accomplish a generic delta robot with optimized workspace volume.
Highlights
In a highly competitive products market, organizations are required to manage their manufacturing processes for high efficiency improvements within a short period of time
Delta robots provide the flexibility and reliability needed for organizations to compete
A fixed platform, three input links, and a moving platform are connected together by three linkages composed of four parallel links
Summary
In a highly competitive products market, organizations are required to manage their manufacturing processes for high efficiency improvements within a short period of time. A fixed platform, three input links, and a moving platform are connected together by three linkages composed of four parallel links. Due to the top link being parallel to the bottom link in the four parallel linkages, the moving platform is always parallel to the fixed platform, which is secured by three parallel linkages These provide three-degrees-of-freedom (3DOF) movement capability within a predefined area, with the help of its unique mechanical structure. The design for a novel configuration to create a 3DOF translation robot is outlined with a free-body diagram. Both forward and inverse kinematic calculations are derived.
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