Designing Building and Controlling of the – Dof delta robot

Abstract

Parallel robots have inherent advantages for many applications in the fields of robotics . A 3dof delta parallel robot designed and built, which consists two platforms, one is fixed and the other is mobile. The movements are transmitted to the mobile platform through the closed chain loops. The used actuators are fixed to the base, the three kinematic chains consist of group of links connected to each other by ball bearing joints. Forward and inverse kinematic analysis is used to study the motion of this robot. A discrete tracker controller is implemented to achieve the accuracy, speed and acceleration.