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Delta Robot: Principles and Applications

The delta robot consists of an upper platform, three motors, three arms with parallelograms, a smaller platform, and an end effector. It uses forward and inverse kinematics - forward kinematics determines the end effector position from joint angles, while inverse kinematics computes the joint angles from a desired end effector position. Delta robots are used in applications like packing, assembly, medical/pharmaceutical operations, food processing, and more due to their ability to provide high precision movement.

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149 views10 pages

Delta Robot: Principles and Applications

The delta robot consists of an upper platform, three motors, three arms with parallelograms, a smaller platform, and an end effector. It uses forward and inverse kinematics - forward kinematics determines the end effector position from joint angles, while inverse kinematics computes the joint angles from a desired end effector position. Delta robots are used in applications like packing, assembly, medical/pharmaceutical operations, food processing, and more due to their ability to provide high precision movement.

Uploaded by

minh thu bui
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd

DELTA ROBOT

Bùi Minh Thư BEBEIU18226


Trần Nhật Anh BEBEIU18
Lecturer: [Link]ền
Content

Working principle of delta robot

Kinematic Modeling

Applications
Structure
The delta robot consists of:
• Upper platform (1)
• Three motors (3).
• Three arms (4) with
parallelograms (5)
• Smaller platform (8).
• The end effector (9).
• The fourth motor (11) is
used for rotation of the
end effector
Working principle
Kinematic Modeling of Delta Robot
Kinematic Modeling of Delta Robot can be
divided into two parts:
• Forward kinematics
• Inverse kinematics
Forward kinematics
the angle of rotation or
Joint space parameter translational movement
of the joints

Forward kinematics

the positions of the


links and joints in the
Cartesian space threedimensional space
parameter rendered by a fixed
reference frame

Forward kinematics gives you the end effectors


position for a given set of joint parameters.
Inverse kinematics
• involves the computational method to
compute the joint space parameters when
specifying the Cartesian space parameters.
• The inverse kinematics procedure will result in
the values for joint parameters
Kinematics Constrains
• Revolute Joint Constraint: maximum of sixty
degrees in each arm.
• Ball Joint Constraint: maximum pivot angle
range is limited to (+/-) 60 degrees.
Applications
Some applications of delta robots are:
 
• Packing industry
 
• High-precision assembly operations
 
• Medical/Pharmaceutical operations
 
• Food processing
 
• Cosmetics
 
• Soldering
 
• Adhesive dispensing
• [Link]
R6E

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