DESIGN OF THE ROBOT DELTA PARAMETER BASED ON THE ROBOT WORKSPACE

Abstract

Delta robot is a parallel robot which can provide precise positions of the working head so it is widely used in industrial applications to pick-and-drop products in the production lines. The optimization of parameters of the robot to obtain the desired workspace is an important task. This paper provides a method to determine the robot parameters based on a given robot workspace. The algorithm used to calculate the forward kinematics and the constraints between the basic dimensions of the robot arms are proposed. The optimal algorithm used to limit the parameter domain to the dimensions of the arms of the robot is also proposed in the paper