Optimization of a 3-RRR Delta Robot for a Desired Workspace with Real-Time Simulation in MATLAB

Abstract

This paper presents an introduction to 3-RRR Delta Robots, as well as, the workspace associated with this robot's design configuration. In addition, the inverse kinematic solution of 3-RRR Delta Robots is provided in full detail. Two methods of workspace optimization, Genetic Algorithms (GA) and Maximum Surrounding Workspace (MSW), are explored in order to design a robot which minimizes the amount of unutilized workspace. The results of these two methods are compared to one another, and with a newly proposed method which combines these two approaches. The results produced by these methods demonstrate that this combination of GA and MSW produces the most optimal design for minimizing wasted workspace.