Simulation is one of the most powerful methodologies to exchange information and show ideas by providing visual effects and have the ability to interaction. Therefore, the proposed design went through two stages, modeling and simulation
:MODELING
Model Designing
In this project, SolidWorks 2013 SP5.0 is used to design proposed solutions which are illustrated in three models:
1. Model A: Simple and first scratch.
2. Model B: Modified and follows the world concepts.
3. Model C: Modified in order to solve problems and implement new features.
Model A
The first model of the project based on an open source model [5] which made of the following parts
Model 'A' has the most simple delta robot design and parts, easy to build but because of the double 2 DOF that generated from the circular ends of the links a very careful control must take in mind to avoid links or motors failure.
In order to calculate the cube envelope area that can be covered by this robot some dimensions are needed:
. Base radius: Distance from center of machine to center of each motor shaft.
. End Effector -EE- radius: Distance from center of the EE to the center of EE joints.
Bicep length: Distance from motor shaft to elbow.
Forearm length: Distance from the EE joint to the elbow joint.
By using ref [2] calculator the cube envelope area dimensions are, Table 3-3
Model B
The second and modified model of the project based on envelope calculation from an open source calculator [2] according to the results from the calculator different dimensions changed while other joints replaced
Main changes on model A:
. Links from 200mm to 230mm
Circular joints into Spherical joint
. Base radius from 100mm to 150mm
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