Delta Robot Kinematics Analys based on Multibody Formulation

Abstract

The present article provides a comprehensive analysis of the kinematics of the Delta parallel robot. A new methodology is introduced to address the direct kinematics problem based on a multibody formulation. A new algorithm to find the solution to direct kinematics using a numerical method is proposed. Then, the workspace is determined. Moreover, a simulator and a prototype are presented, MATLAB as a tool for simulation and programming is used.