CONCLUSION of DELTA ROBOT

CONCLUSION

In this project we studied problem of parallel robots in general particularly delta robots. Data collection, analysis and verification are carried out. Our effort leaded into enabling mechanical positioning of end effector by exploiting the concept of forward and inverse kinematics of delta robot.

The mathematical approval of kinematics equations which is used in Matlab are checked using open source online calculator [2] and have been validated. By then equations have been converted into C++ algorithms which are coded using Visual Studio.

To achieve parallelism into the proposed delta robot, two models have been designed. The first is a simple mechanical design and easy to implementation. However, this model is found to have small cube envelope area and poor coupling joints, thereby it has been set aside as backup model. The second model is designed with bear in mind first model disadvantages so that it is designed with a bigger cube envelope area and better joints which made it easier to control.

To verify the robustness and performance of the second model, a simulation has been carried out on the model using LabVIEW and SoildWorks. Simulation input data included several values of angles for several end effector positions (x, y, z). This allows verification of the inverse kinematics equations. Simulation Results approve the accuracy and correctness of the inverse kinematics such that allowed positions are only pointing inside the cube envelope area and other points outside that cube are mapped out.

We carried out Delta robot problem data collection, analysis, verification, manufacturing and testing. Our effort leaded into enabling mechanical positioning of end effector by exploiting the concept of inverse kinematics of delta robot.

Number of challenges appeared during manufacturing model ‘B’, for example the spherical joint shape and the length of robot’s arms. These problems are solved by adding

some modification on model ‘B’ and generate a new model which is called model ‘C’ whereas keeping advantages of model ’B’. After model ‘C’ had been fabricated, we started in testing phase.

Testing is carried out on model ‘C’ in order to validate the inverse kinematic equation of delta robot by generation MAH files for different geometric shapes and characters. These files are sent to the controller through LabVIEW. The drawing results which are drawn by the end-effector approve the accuracy and correctness of inverse kinematic equation.