Design and Fabrication of Industrial Pick and Place Delta Robot

The need for small and medium industries to reduce errors and downtime in their production line has led to a serious consideration for the development of economical and optimized delta robots for various operations required in assembly lines and warehouses. For operations like pick and place, packaging, and sorting, the delta robot shines above all other types of solutions till now in parameters such as high accuracy, high pick and place rate, low power consumption. This study is a brief process of design, development, and fabrication of delta robots featuring high performance and customization options, which is required in a variety of industries. The dimensions of all the links of delta robot are highly optimized by forward and inverse kinematics. Followed by verifications of these driving equations in MATLAB Simulink. Finally obtaining required dimensions of links using workspace analysis. For fabrication of delta robot, new methods are utilized to reduce the overall inertia of moving components and enable high acceleration and deceleration of end effector to increase pick and place rate. These methods include the use of belt and pully arrangements to obtain perfect blend of torque and speed and Fused Deposition Modeling (FDM) method for lightweight components.