Mechatronic Design and Kinematic Analysis of Delta Robot applied on Supermarkets for Social Distancing during COVID-19 Pandemic

摘要

Since March 2020, Peru has been involved in the pandemic situation that has affected the entire world, that caused the total or partial stoppage of different productive sectors. But also, now a days the improvement of technology brings different alternatives to generate new ways of contactless products delivery. For these reasons, this research, which was conducted in 2021 under the supervision of the Mechatronic Engineering Laboratory at Ricardo Palma University, resulting in the proposed project of a delta robot of three degrees of freedom-DOF with the capacity to move loads of up to 5 kg and has a work area of 800 mm horizontally and 400 mm high. The design contains 3 servomotors with a torque of 44 Nm. with limited rotation range. Due to these characteristics, it is suitable for bagging low weight products. Therefore, this study presents a mechatronic conceptual design using SolidWorks for the development of the 3D mechanical systems and also, Matlab for the working area tests of the robot. In conclusion due to the high speed of this type of configuration is expected to accelerate the mobilization of people in the pay box and decreasing the agglomeration as a result and provides the ability to generate care by reducing contact person-person and person-products, in turn placing the products in bags where they can be transported. For future applications, the next step in 2022 is to build the mechatronics hardware who will help with the support of supermarket chains.