Delta parallel robot workspace and dynamic trajectory tracking of delta parallel robot

In a design process of a Delta or parallel robot, link parameters and actuators size must be selected to maximize appropriate workspace and payload capability. To derive a workspace of the Delta robot, the Cartesian reachable position of the Delta-robot end effector can be efficiently identified using an inverse kinematics. By varying upper-arm and fore-arm lengths, a maximize workspace for a desired reachable work area could be obtained. Furthermore, a trajectory tracking of the Delta robot for pick-and-place operation can be analyzed in terms of load-carrying ability using simplified dynamic equations such that proper actuators and gears could be correctly chosen in the design phase before constructing the Delta robot.