Integration and programming of delta-type parallel robot prototype

Abstract

The development of the present study focuses on the exploration of the parallel robot in delta configuration, highly applied in the industrial environment, in order to integrate a prototype that concentrates the basic characteristics of its function. The constitution of the exposed implement implied the use of materials and devices of easy acquisition and low cost. Likewise, a detailed analysis of the respective mechanical structure and its operation was necessary, in reference to both the way and the medium through which the movement generated by the actuators is managed, to be transmitted to the end effector. The incorporation of the Arduino electronic board as the robot controller is reported, which contains the established programming to ensure its correct operation, given the instructions entered by the user from a computer. The results observed during the performance tests confirm the effective adoption of the joint values assigned by the user, within the mobility limits imposed; even at the level of a prototype.