• Mert Gürgen Yıldız Technical University, Department of Mechanical Engineering
  • Cenk Eryılmaz Yıldız Technical University, Department of Mechatronics Engineering
  • Vasfi Emre Ömürlü Yıldız Technical University, Department of Mechatronics Engineering
Keywords: Parallel robot, workspace, dynamic analysis, kinematic analysis, matlab, delta robot.


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.


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