Design and Implementation of a Delta Robot

• Main Authors: Chien, Yen-Pin, 簡延儐
• Other Authors: Fuh, Chyun-Chau
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/80383080158977563042

碩士 === 國立臺灣海洋大學 === 機械與機電工程學系 === 104 === Delta Robot is a parallel mechanical arm, compared to tandem mechanical arm, it has merit with higher load, precise movements, low inertia and structure is not easily deformed, etc., can be used to forward kinematics and inverse kinematics analysis arm exercise. Parallel robots are mainly used to quickly transfer or targeting widget objects that require high-speed transfer of the workplaces. Therefore, its architecture is necessarily composed of parallel arm of the 3-axis system and combine with the working end of a rotating shaft to become a 4-axis control system. Equipment that Delta Robot used in this study include ASDA A2 servo drive and servo motor, PCI-1245 motion control card ... and so on, as well as other related hardware. This article is mainly for design structure and workspace simulation of a Delta Robot. With SolidWorks selecting the appropriate parameters of the mechanism leading to draw all the parts, then use Matlab based on structural parameters, the way forward kinematics to calculate the position and attitude of the mechanical arm, simulate the complete work space. Finally, complete the Delta Robot design and assembly.