Design and Trajectory Optimization of Delta Robot

Abstract

Delta robots are parallel robots that allow the movement of an end-effector platform parallel to a base. These robots are extensively used for pick-and-place applications in the packaging industry and high precision assembly operations in electronics and 3-D printers as these have capability for high-speed operations. The robot has 4-DOF with three translational joints and one rotational joint. The paper attempts to determine an optimum path, given the start and end points of the end-effector of a virtual delta robot, and to minimize the energy consumed by the motors to drive the platform. In addition, it synthesizes a configuration that consumes the least energy while traversing a given path