Kinematic and dynamic solutions and geometrical design method for ruu Delta robot

Abstract

This article presents fundamental issues of the Delta robot such as problem modelling, kinematic and dynamic solutions. Besides, the article also demonstrates a meticulous classification of workspaces as well as identification of inscribed spheres inside the workspaces. Formulae have been put forward as parameters for the designing. Results show that there are four workspaces suitable for designing reality. Therefore, the authors propose two alternatives for designing the Delta robot based on a given workspace. The first one is suitable for designing small-sized robots and the second one is recommended for designing big-sized robots. Finally, the formulae established are applied to build up a Delta robot and select optimum dimensions.