Abstract—Delta robot is a mechanical design in a kind of parallel type. It is moved by three groups of power structures on the platform of active arms and passive arms led by the end of the platform equipped with the fourth axis at the end of the structure. In this paper, the serial-parallel design of a modified delta robot is proposed, which SolidWorks is employed for designing the mechanics. Forward and inverse kinematics are analyzed to establish the robotic arms, and the wiring hardware system is used to control the motors. To enhance the accuracies of the outputs of the motors, we employ the spherical bearings instead of the traditional ball joints. To verify the performances of the proposed designed delta robot, various tasks are introduced including drawing, playing dominos, objects classification based on image processing, and so on.
Keywords—Robotic arm, delta robot, forward and inverse kinematics, multi-axis robot control.
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