Optimal Design and Implementation of Delta Parallel Robot for Rapid Pick and Place Application
Delta Robot is considered as one of the well-known high speed robotic platform in industry. An agile robot which is mainly used for pick and place application in production lines. The unique characteristic of Delta robot such as parallelogram structure, having high stiffness in a confined structural volume and suitable dynamic performance with high acceleration and speed make Delta Robot as one of the best choice for small pick and place applications. In this thesis a three DoFs Delta Robot with pure translational motion has designed and implemented. After introducing the mathematical model of geometrical structure and jacobian analysis, the dynamic model of the robot is extracted using Lagrangian method which has been verified using Msc ADAMS dynamic simulation software. Based on the previous research in ARAS upon kinematic optimization, dynamic optimization is performed to determine the exact dimensional parameters of the robot and according to dynamic analysis suitable actuators are chosen for the implementation of robot. Using the available facilities in ARAS lab a prototype of the robot for pick and place application is made.
|2016||M.Sc.||Parallel and Cable Robotics|