PARAMETRIC DESIGN OF DELTA ROBOT
AbstractThis 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.
Dogan, E. (2010). Calculations of Delta Parallel Robots Forward and Inverse Kinematics. Conference on Eskisehir Osmangazi University. 61-65.
Merlet, J. P. (2006). Jacobian, manipulability, condition number, and accuracy of parallel robots. Journal of Mechanical Design. 128(1):199-206.
Ocak, O., Oysu, C., & Bingul, Z. (2010). Design and Simulation of Delta Robot. Proc. of the Conference on Automatic Control. 1-6.
Roy ve, R. G. & Olgac, N. (1997). Robust Nonlinear Control via Moving Sliding Surfaces. Proc. of the 36th Conference on Decision and Control. 943-948.
Verdes, D., Sergiu-Dan, S., Milos, M., & Radu, B. (2010). Mechatronic design, kinematics analysis of a 3 DOF medical parallel robot. IEEE-ISRCS’10, the 3rd IEEE Symposium on Resilience Control Systems. 3-4.
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License (Creative Commons Attribution License 3.0 - CC BY 3.0) that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
email@example.com, www.iseic.cz, ojs.journals.cz