ABSTRACT
A typical picture held into someone’s mind when hearing the word Robot is what is
technically called a Robotic Arms or an Articulated Robot that performs some
preprogrammed physical function such as painting, welding, or moving something etc.
this type of Robots is popular due to media while there are other types of Arm Robots for
example a robot that has three or more legs and moves in three dimension space in-order
to perform a specific functionality. These robots are conceptually known as Parallel Delta
Robot. This type of robots was invented in early 80's in Switzerland by the Prof. Reymond
Clavel and it will be the main subject of this report.
In this project we aim to study the concept of controlling three degree of freedom
delta robot. To achieve this goal, a data collection process on the problem is established,
requirement analysis is defined and simulation of a proposed solution is carried out. A
3D model of delta robot is simulated using SolidWorks by solving its inverse kinematic.
And other software tools are used to verify the inverse kinematics equations.
The simulation is verified and accepted and thus we proceeded to implementation
and manufacturing stage. Several design were taken to overcome material shortages and
incompatibility but in overall the assembled delta robot prototype is tested in real and the
inverse kinematic equation has been validated; the prototype performed well showing
.acceptable accuracy where number of simple application can be introduced.
No comments:
Post a Comment