Dynamic optimization and building of a parallel delta-type robot (original) (raw)
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—Delta robot is a mechanical design in a kind of parallel type. It is moved by three groups of power structures on the platform of active arms and passive arms led by the end of the platform equipped with the fourth axis at the end of the structure. In this paper, the serial-parallel design of a modified delta robot is proposed, which SolidWorks is employed for designing the mechanics. Forward and inverse kinematics are analyzed to establish the robotic arms, and the wiring hardware system is used to control the motors. To enhance the accuracies of the outputs of the motors, we employ the spherical bearings instead of the traditional ball joints. To verify the performances of the proposed designed delta robot, various tasks are introduced including drawing, playing dominos, objects classification based on image processing, and so on. Keywords—Robotic arm, delta robot, forward and inverse kinematics, multi-axis robot control.
Design and Implementation of a New DELTA Parallel Robot in Robotics Competitions
International Journal of Advanced Robotic Systems, 2015
This investigation concerns the design and implementation of the DELTA parallel robot, covering the entire mechatronic process, involving kinematics, control design and optimizing methods. To accelerate the construction of the robot, 3D printing is used to fabricate end-effector parts. The parts are modular, low-cost, reconfigurable and can be assembled in less time than is required for conventionally fabricated parts. The controller, including the control algorithm and human-machine interface (HMI), is coded using the Borland C++ Builder 6 Personal software environment. The integration of the motion controller with image recognition into an opto-mechatronics system is presented. The robot system has been entered into robotic competitions in Taiwan. The experimental results reveal that the proposed DELTA robot completed the tasks in those competitions successfully.
Structural analysis of a delta-type parallel industrial robot using flexible dynamic of ANSYS 11.0
2009 35th Annual Conference of IEEE Industrial Electronics, 2009
This paper presents a novel simulation tool for structural analysis of a delta robot using SOLID EDGE and ANSYS 11 that allows optimization of the robot's mechanical structure as regards to materials, geometry and manufacture costs. To develop this simulation tool, a three-dimensional model of the delta robot was obtained through SOLID EDGE, and trajectory analysis was carried out, resulting in selection of critical trajectory between several possible movements. Finally, dynamic structural analysis of the robot was run on Flexible Dynamic ANSYS 11, taking into account the dynamic forces of inertia intervening in the model, as well as stress analysis along the selected critical trajectory.
Design and Development of Multipurpose Delta Robot
IJRASET, 2021
This report represents an designing and simulating ideal pick and place robot which should carry out the operations in minimum time and should also be cost efficient. It is four degrees of freedom parallel configuration used for very high speed pick and place operations. The objectives of this report are designing a Delta robot capable of carrying 1kg payload, achieving a cycle rate of 120 cycles per minute covering a work volume of 400x300x200 mm3. The project involves Kinematic & Dynamic modeling of the robot for the above specifications. The kinematic parameters, involving the lengths of the bicep and forearm, are calculated based on the work volume requirements and the dynamic parameters, involving the motor torque and speed, are calculated based on the maximum acceleration requirements and the inertia of the system. The project further involves the structural analysis of the robot which deals with the proper sizing of the mechanical structure which should be capable of withstanding the high torque and acceleration required for smooth and fast motion. The future work involves integrating the mechanical system with the control system and programming the system for a particular application. I.
Design and Implementation of a Low-Cost Microcontroller-Based an Industrial Delta Robot
WSEAS TRANSACTIONS ON COMPUTERS, 2021
This paper presents a practical design and control for a delta robot based on a low-cost microcontroller. The main purpose of the proposed delta robot is to improve and enhance industrial productivity such as fast pick-and-place tasks and fully autonomous production lines. Additionally, during a global pandemic similar to (COVID-19), some medical and food products suffer from a sudden increase and demand. Moreover, kinematics, workspace dynamics analysis took into consideration an optimized approach to achieve a viable yet efficient model representing them. Furthermore, stress analysis and material selection have been applied, targeting to achieve high customizability of the manipulator linages. Taking availability into considerations, most components are available locally for ease of manufacturing. To add a touch of machine vision to the robot, a camera module is mounted in an optimized fashion to optimize the robot's performance and increase its accuracy. Finally, various inte...
Towards a new Delta robot: an inverted Delta
In the way of developing fast parallel robots, the following work proposes a development of a new delta robot. This robot is a 3 d.o.f. parallel robot based on a Delta-like kinematics [Clavel 88, 92]. It is actually an inverted Delta in which the parallel bars are inverted towards the basis. There are two principal advantages of this structure. The first is that there is less links between the actuators and the support basis. The second concerns the fact that end- effector naturally moves without changing the direction of the motors. This last characteristic leads to a fastest structure. This paper is organized as follows: At first, we will present the previous version of the micro-delta [Rey 94] and the actuator trajectories when carrying out a typical pick and place operations. The second part concerns the proposition of this new kinematics (called inverted delta), its optimization, simulation, design and the mechanics. A comparison between the actuator’s trajectories will be show...
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2019
Because of remarkable characteristics such as superior speeds and accelerations, high stiffness and good dynamic performance, parallel robots are being increasingly adjusted to different task requirements in the manufacturing field. Their parallel structures made by closed-loop kinematic chains are better suited to develop new curved and multidirectional fabrication strategies in Additive Manufacturing. Based on this application, the conceptual design and dimensional optimization of a new structure of the linear delta parallel robot for Additive Manufacturing (three-dimensional printing) is presented. The new structure uses an innovative concept of delta mechanism with single legs and rotational joints, which consists of 12 links (three single parallel legs), three prismatic joints, and 11 revolute joints. A particular feature of the proposed mechanism is that it contains a joint common to all the kinematic chains instead of a mobile platform. Quality function deployment is used as ...
A new approach to the design of a delta robot with desired workspace - artigo
In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is proposed. The inscribed radius of the workspace on a workspace section is illustrated. As an applying example, a design result of the DELTA robot with a given workspace is presented and the reasonability is checked with the conditioning index. The results of the paper are very useful for the design and application of the parallel robot.
A New Approach to the Design of a DELTA Robot with a Desired Workspace
In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is proposed. The inscribed radius of the workspace on a workspace section is illustrated. As an applying example, a design result of the DELTA robot with a given workspace is presented and the reasonability is checked with the conditioning index. The results of the paper are very useful for the design and application of the parallel robot.