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<p>This paper covers the design and implementation of the Delta parallel robot, including kinematics, control design, and optimization trajectory techniques. For the structure, the Delta robot is quite similar to the parallel platform mechanism, in which the inverse kinematic model is typically straightforward, the direct kinematic model’s analytical derivation might be challenging or even impossible to calculate. End-effector, base, and some other parts are made of aluminum alloy using CNC technology to expedite the robot’s construction. The parts may be constructed slower than those made using mass production techniques, as they are modular, high accuracy, low density compared to steel alloy, and durable. The Visual Studio software environment and Mitsubishi’s PLC software are used as a base to program the controller, which includes the control algorithm and human–machine interface. The robot’s workspace-based actuator speed and acceleration limitations are taken into account during trajectory optimization. An integrated system containing image recognition and motion controller is shown. The experimental findings show that the suggested Delta robot effectively finished the tasks in those competitions.</p>

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Experimental validation of dynamic models for high-speed Delta robots

  • 期刊论文

  • 发表日期：

    2025年4月5日

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  • Hoang-Viet Dang,
  • The-Mong Bui,
  • Thi-Van-Anh Nguyen,
  • Danh Huy Nguyen

摘要

This paper covers the design and implementation of the Delta parallel robot, including kinematics, control design, and optimization trajectory techniques. For the structure, the Delta robot is quite similar to the parallel platform mechanism, in which the inverse kinematic model is typically straightforward, the direct kinematic model’s analytical derivation might be challenging or even impossible to calculate. End-effector, base, and some other parts are made of aluminum alloy using CNC technology to expedite the robot’s construction. The parts may be constructed slower than those made using mass production techniques, as they are modular, high accuracy, low density compared to steel alloy, and durable. The Visual Studio software environment and Mitsubishi’s PLC software are used as a base to program the controller, which includes the control algorithm and human–machine interface. The robot’s workspace-based actuator speed and acceleration limitations are taken into account during trajectory optimization. An integrated system containing image recognition and motion controller is shown. The experimental findings show that the suggested Delta robot effectively finished the tasks in those competitions.