Parametric Design of Delta Robot
Mert Gürgen, Cenk Eryılmaz, Vasfi Emre Ömürlü
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.
UDC Classification: 62-1/-9 DOI: http://dx.doi.org/10.12955/cbup.v4.856
Keywords: Parallel robot, workspace, dynamic analysis, kinematic analysis, matlab, delta robot.
This study demonstrated a theoretical solution for deriving an optimum workspace for a delta robot
with use of different sets of arm length and plate diameter values, to achieve robot accessibility within
a 3D coordinate system. Theoretical calculations included a stiffness and dexterity analysis, combined
with the Jacobian method, and from this, iterations were finalized with the workspace volume
illustrated. This study’s findings could be used to define a set of delta robot link/plate parameters for
use in applications for improving efficiency in organizations required to manage their manufacturing
processes in a competitive products market.
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