Search

SUMMARYThis paper proposes a vision-based kinematic analysis and kinematic parameters identification of the proposed architecture, designed to perform the object catching in the real-time scenario. For performing the inverse kinematics, precise estimation of the link lengths and other parameters needs to be present. Kinematic identification of Delta based upon Model10 implicit model with ten parameters using the iterative least square method is implemented. The loop closure implicit equations have been modelled. In this paper, a vision-based kinematic analysis of the Delta robots to do the catching is discussed. A predefined library of ArUco is used to get a unique solution of the kinematics of the moving platform with respect to the fixed base. The re-projection error while doing the calibration in the vision sensor module is 0.10 pixels. Proposed architecture interfaced with the hardware using the PID controller. Encoders are quadrature and have a resolution of 0.15 degrees embedded in the experimental setup to make the system closed-loop (acting as feedback unit).

In this work, the structural design of a structure-simplified parallel Delta robot is presented, by considering the kinetostatics, kinematic dexterity and workspace. An approach to normalize the di...

Dynamic manipulation tasks require lightweight yet stiff robotic systems, to achieve high efficiency and precision at the same time. The most widely spread parallel robot designed for these tasks is the Delta robot. To decide on the dimensional parameters for these systems, best meeting the foregoing requirements, this paper focuses on the optimum dimensional synthesis, combing kinematic, dynamic and stiffness design criteria. In addition to the kinematic parameters of the robot, the shape of the proximal links is optimized based on two different designs. One carrying a solid section and one a hollow section profile, both paradigms of the sections found in the market. A case study, based on a common application of the Delta robots, is used for a critical discussion on the performance of both proximal link designs.

SUMMARYIn brachytherapy, the manual implantation of seeds is not accurate leading to side effects and limiting the use of new procedures. Robotics solutions have to be fully suitable for medical applications especially considering the operating room. This paper investigates a delta robot solution for improving the accuracy of the prostate brachytherapy procedure by proposing a compact and lightweight robot. In addition, the design was thought as a comanipulated robot for a better acceptability and human–machine interaction. The robot kinematics and singularities were determined and the theoretical capability in term of resolution and force feedback was evaluated. A prototype was built in order to experimentally measure the capability of this first prototype.

Mechanisms with parallel kinematics are the subject of many theoretical and applied research problems. The article proposes a design of a linear 3D printer with Delta kinematics. A structural analysis of the mechanism is carried out, and a method for determining kinematic and dynamic characteristics that affect the spatial synthesis of parallel robots is given. This work will help engineers or researchers to choose the geometric parameters of the printer to perform the required tasks.

Delta robot is one of the most known parallel systems which possesses high stiffness and accuracy. In order to build a system that endows the robot to perform the desired tasks, an accurate and validate the dynamic model is required. In recent years, researchers have been focused on the construction of serial structured robots. However, few researchers tried to evolve the delta robots in such a system. In this work, the multibody system dynamics (MBS) approach is used to study the kinematics and dynamics of delta robots. A systematic approach is developed based on load assumption due to end-effector movements. The multibody model is constructed using Matlab Symbolic Toolbox. Moreover, D3S-800 is utilized in this study to validate the multibody model. The comparison of experimental data and numerical solution shows a very good agreement and consequently, the multibody model obtained is suitable for parameter identification, control and design optimization of a delta robot system.

In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.

Purpose Pick-and-place tasks are common across many industrial sectors, and many rigid-linked robots have been proposed for this application. This paper aims to alternatively present the development of a continuum robot for low-load medium-speed pick-and-place tasks. Design/methodology/approach An inversion of a previously proposed dual continuum mechanism, as a key design element, was used to realize the horizontal movements of the CurviPicker’s end effector. A flexible shaft was inserted to realize rotation and translation about a vertical axis. The design concept, kinematics, system descriptions and proof-of-concept experimental characterizations are elaborated. Findings Experimental characterizations show that the CurviPicker can achieve satisfactory accuracy after motion calibration. The CurviPicker is easy to control due to its simple kinematics, while its structural compliance makes it safe to work with, as well as less sensitive to possible target picking position errors to avoid damaging itself or the to-be-picked objects. Research limitations/implications The vertical translation of the CurviPicker is currently realized by moving the flexible shaft. Insertion of the flexible shaft introduces possible disturbances. It is desired to explore other form of variations to use structural deformation to realize the vertical translation. Practical implications The proposed CurviPicker realizes the Schöenflies motions via a simple structure. Such a robot can be used to increase robot presence and automation in small businesses for low-load medium-speed pick-and-place tasks. Originality/value To the best of the authors’ knowledge, the CurviPicker is the first continuum robot designed and constructed for pick-and-place tasks. The originality stems from the concept, kinematics, development and proof-of-concept experimental characterizations of the CurviPicker.

SummaryThis paper presents a unified formulation for the kinematics, singularity and workspace analyses of parallel delta robots with prismatic actuation. Unlike the existing studies, the derivations presented in this paper are made by assuming variable angles and variable link lengths. Thus, the presented scheme can be used for all of the possible linear delta robot configurations including the ones with asymmetric kinematic chains. Referring to a geometry-based derivation, the paper first formulates the position and the velocity kinematics of linear delta robots with non-iterative exact solutions. Then, all of the singular configurations are identified assuming a parametric content for the Jacobian matrix derived in the velocity kinematics section. Furthermore, a benchmark study is carried out to determine the linear delta robot configuration with the maximum cubic workspace among symmetric and semi-symmetric kinematic chains. In order to show the validity of the proposed approach, two sets of experiments are made, respectively, on the horizontal and the Keops type of linear delta robots. The experiment results for the confirmation of the presented kinematic analysis and the simulation results for the determination of the maximum cubic workspace illustrate the efficacy and the flexible applicability of the proposed framework.

Traditional parallel-jaw grippers are insufficient for delicate object manipulation due to their stiffness and lack of dexterity. Other dexterous robotic hands often have bulky fingers, rely on complex time-varying cable drives, or are prohibitively expensive. In this paper, we introduce a novel low-cost compliant gripper with two centimeter-scaled 3-DOF delta robots using off-the-shelf linear actuators and 3D-printed soft materials. To model the kinematics of delta robots with soft compliant links, which diverge from typical rigid links, we train neural networks using a perception system. Furthermore, we analyze the delta robot’s force profile by varying the starting position in its workspace and measuring the resulting force from a push action. Finally, we demonstrate the compliance and dexterity of our gripper through six dexterous manipulation tasks involving small and delicate objects. Thus, we present the groundwork for creating modular multi-fingered hands that can execute precise and low-inertia manipulations.

At present, the application of parallel picking robot has been very popular, but there are some problems in the actual life that the mechanization efficiency is not high enough. In this paper, through the analysis of the structure design of the existing four-bar Delta parallel robot in the laboratory, combined with the kinematics analysis of the parallel robot, the forward kinematics solution and the inverse kinematics solution are carried out. With Monte Carlo method as the forward kinematics research method and MATLAB as the simulation tool, the workspace of the parallel robot is simulated, and the effective workspace is optimized for the size of the driven arm and the size of the driving arm respectively, so that the effective workspace proportion reaches 0.4836, which is far higher than 0.1434 of the original scheme. The experimental data show that the idea of structure design of Delta like parallel robot in this paper can be used to improve the benefits of mechanization in actual production and life to a certain extent.

Thus, a Delta robot maximizes the working speed and the payload that it supports. Thus, in current work, the development and implementation of inverse kinematics in a Delta robot can be observed from different approaches that help to optimize the processing with respect to the equations that govern its motion [4]–[5]. In this way, for the development of the project, as the main design requirements obtained from a task analysis, there is a need for a high speed in the transfer of solid products [6]. Additionally, to guarantee the precision of the mechanism and the parallel calculation of the movement, the embedded NI myRIO system is used, which is a hybrid device from National Instruments, which has a Xilinx Zynq-7010 FPGA and a dual ARM Cortex-A9 processor. Core, designed specifically for the development of complex engineering embedded systems [7].

In the past decade, parallel manipulators began gaining more attention since they can outperform their serial counterparts at several areas. The use of common parallel delta robot mechanisms is wide-spread within the industry, especially for fast pick and place applications. There is a new type of parallel mechanism on the rise, called the Generalized Triangle Parallel Robot (GTPR), where the parameters of the robot may differ from arm to arm. Due to the asymmetric structure, the kinematic description of such a mechanism is less trivial. For this reason, we wish to show that many mechanical problems become more straightforward by using screw theory througout the formalism. Screw theory uses the Plucker coordinate representation of mechanical structures. This representation leads to an elegant and tractable form of the kinematics equations. This paper presents a compact tutorial about screw theory and a joint velocity calculation example, with the complete derivation of screws and numerical results.

Delta robots are a subset of a class of robots called parallel robots. These are widely used in pick-and-place and assembly tasks involving high motion accuracy. The basic idea for the design is the development of parallelogram structures attached to the output platform. Three such parallelogram mechanisms are used to ensure that the orientation of the moving platform is restricted to only translational motion relative to the base. This paper aims to improve the robot’s motion accuracy by performing a study on the parallelism error and verify its influence on accuracy. Previous studies on the error analysis in the motion of Delta robots mainly consider dimensional tolerance, joint clearance and driving error of each component, mainly focusing on the position error of the moving platform. However, the analysis of the parallelogram arm is also equally important to ensure minimum posture error to reduce the pose error(orientation + position) of the mobile platform. Any posture error in the mechanism results in the posture error of the moving platform. This article approaches to reduce this posture error by considering the main influencing factors-length error in the connecting rods and joint errors in the parallelogram mechanism. The work is divided into two sections. The first section deals with the kinematic analysis and estimation of optimum dimensions. The second section deals with the error analysis using the kinematic approach. This section also relates the errors of pose and structural types. And, due to its analytical nature, this error model can be used for sensitivity analysis to further enhance manipulator accuracy.

This paper deals with a special architecture of DELTA robot designed to be used as a haptic device. Delta robot, as all parallel manipulators, has complex kinematic models and singularity issues. To overcome these difficulties, we introduce, in this paper, an approach for solving the forward kinematic problems by using a serial method. This method is based on placing three sensors on one leg rather than placing them on the actuated joints located at the base. In order to validate and to show the benefits of this approach, simulations were carried-out. Theses simulations show the improvement of the accuracy for solving the forward kinematic model.

International audience; This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed of lower-mobility joints and actuated prismatic joints, together with the investigations on three kinematic issues of importance. The first aspect pertains to geometric modeling of the TPM in connection with its topological characteristics, such as the POC, degree of freedom and coupling degree, from which its symbolic direct kinematic solutions are readily obtained. Moreover, the decoupled properties of input-output motions are directly evaluated without Jacobian analysis. Sequentially, based upon the inverse kinematics, the singular configurations of the TPM are identified, wherein the singular surfaces are visualized by means of a Gröbner based elimination operation. Finally, the workspace of the TPM is evaluated with a geometric approach. This 3-DOF TPM features less joints and links compared with the well-known Delta robot, which reduces the structural complexity. Its symbolic direct kinematics and partially-decoupled property will ease path planning and dynamic analysis. The TPM can be used for manufacturing large work pieces.

Parallel robots are being applied popular in industry. They usually have many closed-loop kinematic structures, therefore their movement equations have the form of redundant coordinates and are complex. In most cases, parameters of dynamic model of the parallel robots required to be known exactly for control problem using the control laws such as PD, PID, CTC. This study is going to see in which the conditions of the Rostock Delta parallel robot should be used well with the PD control law. The movement equations of Rostock Delta robot in the form of differential equation system with redundant generalized coordinates is used to establish the PD control law. The stableness of the control law is also proved. Tracking control of a specific Rostock Delta robot is then simulated to see whether the PD control law could be used effectively or not in the cases of with and without the error of robot and noise.

In this paper we derive a dynamic model of the delta robot and two formulations of the manipulator Jacobian that comprise a system of singularity-free, index-one differential algebraic equations that is well-suited for model-based control design and computer simulation. One of the Jacobians is intended for time-domain simulation, while the other is for use in discrete-time control algorithms. The model is well-posed and numerically well-conditioned throughout the workspace, including at kinematic singularities. We use the model to derive an approximate feedback linearizing control algorithm that can be used for both trajectory tracking and impedance control, enabling some assembly tasks involving contact and collisions. The model and control algorithms are realized in the open-source Modelica language, and a Modelica-based software architecture is described that allows for a seamless development process from mathematical derivation of control algorithms, to desktop simulation, and finally to laboratory-scale experimental testing without the need to recode any aspect of the control algorithm. Simulation and experimental results are provided.

Translational parallel manipulators (TPMs) with DELTA-like architectures are the most known and affirmed ones, even though many other TPM architectures have been proposed and studied in the literature. In a recent patent application, this author has presented a TPM with three equal limbs of Universal-Revolute-Universal (URU) type, with only one actuated joint per limb, which has overall size and characteristics similar to DELTA robots. The presented translational 3-URU architecture is different from other 3-URUs, proposed in the literature, since it has the actuators on the frame (base) even though the actuated joints are not on the base, and it features a particular geometry. Choosing the geometry and the actuated joints highly affects 3-URU&rsquo, s behavior. Moreover, putting the actuators on the base allows a substantial reduction of the mobile masses, thus promising good dynamic performances, and makes the remaining part of the limb a simple chain constituted by only passive R-pairs. The paper addresses the kinematics and the singularity analysis of this novel TPM and proves the effectiveness of the new design choices. The results presented here form the technical basis for the above-mentioned patent application.

Roboti sa serijskom kinematskom strukturom pronašli su svoje mjesto u mnogim segmentima djelovanja unutar industrijskog okruženja. Razvojem i usavršavanjem industrijskih procesa dolazi do pojavljivanja specifičnih radnih zadataka kod kojih je potrebno osigurati visok stupanj dinamike. Roboti s paralelnom kinematskom strukturom pronašli su svoju primjenu upravo u takvim specifičnim zadacima. U ovome radu dana je tablična usporedba komercijalnih delta robota vodećih svjetskih proizvođača. Većina proizvođača u svojoj ponudi nudi više tipova delta robota te su stoga u ovome radu razmatrane samo one konfiguracije robota koje su međusobno slične i u odnosu na koje se predlaže novo konstrukcijsko rješenje bez upotrebe profesionalnih komponenata. Modeliranje konstrukcijskih komponenata napravljeno je u CAD programskom paketu SolidWorks. Prema predloženoj konstrukciji izvedeni su izrazi i dobivena su rješenja inverznog i direktnog kinematičkog problema. Provjera izvedenih izraza napravljena je u programskom paketu MATLAB gdje je na temelju zadane prostorne trajektorije riješen inverzni kinematički problem čije je rješenje zadano kao ulazna varijabla direktnog kinematičkog problema. Dinamika robota određena je Lagrangeovom formulacijom prvog tipa te je dobiveno rješenje grafički prikazano i uzeto u obzir pri odabiru aktuatora. S obzirom da robot obavlja radne operacije unutar relativno manjeg radnog prostora, razmatrana su konstrukcijska ograničenja koja utječu na dimenzije radnog prostora i dobiveni je grafički prikaz radnog prostora robota pomoću MATLAB-a. Odabrane su i opisane komponente predloženog upravljačkog sustava robota. Prikazane su sheme spojeva elektroničkih komponenata koje su korištene u projektiranju mikroprocesorskog sustava robota napravljenog u Altium Designer-u. Na kraju je prikazana tablična procjena troškova komponenata i izrade robota. Robots with serial kinematics structure have found their place in many segments of operation within an industrial environment. With the development and refinement of industrial processes, there are specific tasks that require a high degree of dynamics. Robots with parallel kinematics structure have found application in precisely such specific tasks. In this paper, a tabular comparison of commercial delta robots of the world's leading manufacturers is given. Most manufacturers have several types of delta robots in their offer, and therefore, in this paper we will consider only those configurations of robots that are similar, and in relation to which, a new design solution is proposed, without the use of professional components. Modelling of structural components is made in the CAD program package SolidWorks. According to the proposed design, the expressions were derived, and the solutions of the inverse and direct kinematics problem were obtained. A check of derivative expressions was made in a program package MATLAB where an inverse kinematic problem was resolved, based on the default spatial trajectory, which is the default solution as the input variable of the direct kinematic problem. The dynamics of the robot is determined by Lagrange formulation of the first type and the resulting solution is graphically illustrated and taken into account when the actuator is selected. Since the robot performs work operations within a relatively small workspace, the structural limitations that affect the volume of the workspace have been examined and a graphical representation of the workspace of the robot is obtained using MATLAB. The components of the proposed robot control system are selected and described. The schemes of electronic components used in designing microprocessor systems of robots are presented and designed in Altium Designer software. In the end, robot production cost estimation is presented in the table showing each component cost.

Evaluation of a robotic (serial or parallel) manipulator’s static and kinematics performance requires the solution of closed and complicated non-closed form systems of equations for both the forward and inverse problem types. In this work, a robotic system or manipulator is represented as a network whose motion generating kinematic pairs are represented as the network’s inter-connected nodes. Within this network theoretic context, we develop a formulation employing higher dimensional multivectors defined in Clifford Algebra that approximates the computational outcomes of such complicated systems of equations, for both inverse and forward problem types. The statics and kinematics performance of these mechanical networks (serial and parallel robots) are rapidly evaluated without the need to solve their respective traditional systems of equations using what we call ‘screw hypervolumes’, which capture the algebro-geometric structures generated by a robot’s physical design parameters and end-effector position in terms of kinematics and statics. These dimensionless hypervolume functions enable the specialist to produce a very computationally efficient function/index that approximates the kinematic and static output spaces of robots. We find that this formulation inadvertently presents a curious mathematical analogue to these systems of equations. A 6R serial robot, the Delta robot and the 3-RRR manipulator are analysed using the hypervolume methods for the case studies. This approach can be adapted and applied to other multi-agent physical systems displaying non-commutative interactions as well.

This paper presents the tracking control for a robotic manipulator type delta employing fractional order PID controllers with computed torque control strategy. It is contrasted with an integer order PID controller with computed torque control strategy. The mechanical structure, kinematics and dynamic models of the delta robot are descripted. A SOLIDWORKS/MSC-ADAMS/MATLAB cosimulation model of the delta robot is built and employed for the stages of identification, design, and validation of control strategies. Identification of the dynamic model of the robot is performed using the least squares algorithm. A linearized model of the robotic system is obtained employing the computed torque control strategy resulting in a decoupled double integrating system. From the linearized model of the delta robot, fractional order PID and integer order PID controllers are designed, analyzing the dynamical behavior for many evaluation trajectories. Controllers robustness is evaluated against external disturbances employing performance indexes for the joint and spatial error, applied torque in the joints and trajectory tracking. Results show that fractional order PID with the computed torque control strategy has a robust performance and active disturbance rejection when it is applied to parallel robotic manipulators on tracking tasks.

Motion and force transmission indices are a common measure for the kinematic performance analysis and optimization of parallel manipulators. However, a separate consideration of the constraint characteristics is inevitable for the analyses of limited-dof parallel manipulators. Such separation may distort the performance evaluation as the design parameters of parallel manipulators are highly coupled. In this context, different formulations for the transmissibility and constrainability of parallel manipulators based on the notion of power coefficients and pressure angles are revisited and applied to the performance evaluation of a non-overconstraint Delta robot, a well-known lower-dof parallel robot. Following the concept of pressure angles, a physically meaningful measure is proposed, which aggregates the transmission and constraint characteristics into a single index. The simple definition does not require the tedious computation of the normalization factor as used for power coefficients. Moreover, the applicability of the different formulations for the performance evaluation and optimization is critically discussed revealing insights into the particularities of the different indices and their interactions as well as proving the validity of the new approach.

Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models. Such modeling approaches have already been presented for PKM with simple limbs (i.e. each limb is a serial kinematic chain). A systematic modeling approach for PKM with complex limbs (i.e. limbs that possess kinematic loops) was not yet proposed despite the fact that many successful PKM comprise complex limbs. This paper presents a systematic modular approach to the kinematics and dynamics modeling of PKM with complex limbs that are built as serial arrangement of closed loops. The latter are referred to as hybrid limbs, and can be found in almost all PKM with complex limbs, such as the Delta robot. The proposed method generalizes the formulation for PKM with simple limbs by means of local resolution of loop constraints, which is known as constraint embedding in multibody dynamics. The constituent elements of the method are the kinematic and dynamic equations of motions (EOM), and the inverse kinematics solution of the limbs, i.e. the relation of platform motion and the motion of the limbs. While the approach is conceptually independent of the used kinematics and dynamics formulation, a Lie group formulation is employed for deriving the EOM. The frame invariance of the Lie group formulation is used for devising a modular modeling method where the EOM of a representative limb are used to derived the EOM of the limbs of a particular PKM. The PKM topology is exploited in a parallel computation scheme that shall allow for computationally efficient distributed evaluation of the overall EOM of the PKM. Finally, the method is applied to the IRSBot-2 and a 3 R R[2RR]R Delta robot, which is presented in detail.

This paper presents an inverse kinematic controller using neural networks for trajectory controlling of a delta robot in real-time. The developed control scheme is purely data-driven and does not require prior knowledge of the delta robot kinematics. Moreover, it can adapt to the changes in the kinematics of the robot. For developing the controller, the kinematic model of the delta robot is estimated by using neural networks. Then, the trained neural networks are configured as a controller in the system. The parameters of the neural networks are updated while the robot follows a path to adaptively compensate for modeling uncertainties and external disturbances of the control system. One of the main contributions of this paper is to show that updating the parameters of neural networks offers a smaller tracking error in inverse kinematic control of a delta robot with consideration of joint backlash. Different simulations and experiments are conducted to verify the proposed controller. The results show that in the presence of external disturbance, the error in trajectory tracking is bounded, and the negative effect of joint backlash in trajectory tracking is reduced. The developed method provides a new approach to the inverse kinematic control of a delta robot.

This paper presents path following control for fully actuated rigid body systems in 3-D space. Transverse feedback linearization and a parallel transport frame are used to design a path following controller that is suitable for paths that are parametrized as regular threefold continuously differentiable curves. The application of this frame enables the handling of paths with zero curvature and reduces the complexity of the control law. The path following controller is combined with a compliance control concept. The strategy is verified by a series of measurement results on a DELTA robot with linear drives.

More than thirty years after the initial concepts, commercial Delta and Delta-like robots serve a niche market for high-speed pick-and-place applications. Expired patents and new fields of application have led to increased research and innovative designs. By functionally extending the original translational Delta robot with additional serial chains, commercial concepts obtain up to three additional rotational degrees-of-freedom. In this context, the paper in hand is concerned with the analyses of serial-parallel Delta robots with full orientation capabilities. Based on efficient kinematic relations, an energy-related dynamic model is derived for four potential extensions. By solving the inverse dynamic problem, the influences of the additional serial chains on the actuation torques of the basic parallel Delta robot are analyzed. Furthermore, the merits of each individual concept are evaluated using torque-related indices (i.e., energy consumption and root mean square torque) and discussed from a design point of view. It is shown that two types of extensions are predestined for industrial application. In these variants, the wrist motors are either attached to the frame or to the distal links.

Bu çalışmada; Geçmişten günümüze gelişimini arttıran robotlaşma süreci araştırılmış, robotlar kullanım alanlarına göre incelenmiş, robotların parça ve mekanik yapıları araştırılmıştır. Sanayi alanında sıkça kullanılan paralel robot tipleri arasında yer alan delta robotların çalışma prensipleri incelenmiştir. Delta robotlarının çalışma koşullarına göre tasarlanması için kinematik hesaplamalar araştırılmıştır. Delta robotun katı modeli hesaplamalara göre tasarlanmıştır. Gerekli elektronik kartlar tedarik edildikten ve robot monte edildikten sonra delta robota ait örnek uygulamalar yapılmıştır., In this study; The robotization process, which has increased its development from the past to the present, has been researched, robots have been examined according to their usage areas and the parts and mechanical structures of the robots have been investigated. Working principles of delta robots, which are among the parallel robot types which are frequently used in the industrial field, have been examined. Kinematic calculations for the purpose of designing delta robots in accordance with the working conditions have been investigated. The solid model of the delta robot is designed in accordance with the calculations. After the necessary electronic cards were supplied and the robot has been assembled and sample applications of the delta robot were made.

The Watt mechanism was invented by James Watt and consisted of a central point of the system that is configured to move as close as possible to a straight line. At one time this Mechanism was used in automobile suspensions as a lateral guiding mechanism, and in the field of robotics, it is used for various robots and in different applications. This article deals with the design and state of the art of new Watt mechanisms, their classification and analysis, their crossed kinematics are analyzed, these efforts represent a first moment to modify the movements of parallel delta-type robots and will allow to increase their precision.

The Delta robot is one of the most popular parallel robots in industrial use today. In this paper we analyse the forward and inverse kinematics of the robot from a geometric perspective using Conformal Geometric Algebra. We calculate explicit formulae for all joints in both the forward and inverse kinematic problems as well as explicit forward and inverse Jacobians to allow for velocity and force control. Finally we verify the kinematics in Python and simulate a physical model in the Unity3D game engine to act as a test-bed for future development of control algorithms.