The Implementation of a Modest Kinematic Solving for Delta Robot

Abstract

This paper presents a development of the delta robot from the kinematic equation to the real-time implementation. The developed delta robot allows to generate three degrees of freedom (DOF). To manipulate the delta robot in real-time, the kinematics equation should be obtained. The kinematic equation was obtained from the combination of triangular and Pythagoras equation. In order to verify and examine the kinematic equation, the prototype of the delta robot has been developed. The prototype robot however, used the Arduino Nano as the main controller to calculate the kinematic and convert it into robot movements. Some experimental result has been carried out in real-time application. The experimental results verify that the kinematic equation can be implemented in the real-time delta robot.