Precision Features of Delta Robot

8/11/2019 Precision Features of Delta Robot

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Precision features ofDelta robot

Batch members:

Seetharaman.N (12R436)Padma Hari Nandan.V (12R437)

Krishna.A(12R438)

Vignesh.G.R(12R439)


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Introduction

The Delta robot constitutes technological innovation in the robot industry and it wato the industry for pick and place operations.

The delta robot is a type of a parallel robot built using parallelogram mechanisms an

platform has three translational and on rotational DOFs with respect to the base

Delta robot was designed to serve in the electronic, food and pharmaceutical indus

required a high level of hygiene and reliable standards for of the products.

The simple reason for this is that the robot offers the following advantages when costandard serial robots:

i. Inverse kinematics and direct kinematics can be solved easily.

ii. The position and orientation of the moving platform are uncoupled.

iii. Very high accelerations are possible due to the light weight of the moving parts


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Features

Each axis only needs to accelerate the faceplate, significantacceleration rates occur.

This can notably reduce cycle times compared to a serial-lin

In addition to high speed performance, a parallel-link robot improved accuracy and repeatability at the tool tip.

The high accuracy of parallel structures makes them good cafor measuring machines


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Workspace

Delta robots workspace is based on the conceptof maximum inscribed workspace

The Delta parallel structure has three degrees ofmobility, so it can perform three translations.

The workspace for a robotic structure with three mobility dtranslation, consists of a volume that the handled object canwithout changing its orientation.


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Work Volume


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Construction

Inner Arms

The four robot motors attach directlyto the inner arms through a high-performance gear reducer.

Made of precision carbon fiberassembly

The RIA-compliant hard stops limitthe inner arm motion to -51and+123.

The inner arm motion is transmittedto the platform through the outerarms.


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Construction

Outer Arms

It connected between the inner arms and platformwith precision ball-joints.

The outer arms are carbon fiber epoxied assemblieswith identical ball-joint sockets at each end.

A bearing insert at each socket accepts the ball-joint

studs on the inner arms and platform, It allows for 60 of relative motion.

No ball-joint lubrication is required.

Each pair of outer arms is held together with springsthat pretension the ball joint assemblies.


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Platform

The platform converts the motion of thefour Quattro motors into Cartesianmotion and Theta rotation of the robottool.

Platform articulation is achieved bydifferentially driving the four motors.

Tool rotation is implemented with eithera belt-drive mechanism or with direct-

drive, for applications needing higherrotation force but less rotation range.

It supports two types of platforms,depending on the amount of Thetarotation and inertia needed by thecustomer.


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Cycle time

The cycle time is defined as an a/b/c pick and place motion elevation of a, an horizontal motion of b and a down motiondistance c as defined on the figure below :


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Flexibility

Delta Robots can be quickly reconfigured for design and promodifications.

It has the ability to switch quickly from one product to anotshortened set times.

Minimized setup times lead in turn to more output and bett

throughput. Improved micro processing power and artificial intelligence

techniques have also dramatically increased the value of deas flexible automation tools.


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Positioning (repeatability)

It expresses the closeness of agreement between the attainafter n repeat visits to the same command pose in the samedirection.

Hephasist Seiko proposes various 6 DOF positioning robots wtravel range of +/- 15 mm and +/- 15 degrees

Delta robot has very high transfer rate and high accuracy allmanipulation of fragile objects .


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Force capability

The robot force capability strongly depends on the point ofapplication. Thus, we can define three regions :

(1) Centered in the middle of the workspace ;

(2) Intermediary position;

(3) In the extremity of the workspace.


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Industrial Applications

Precision Features of Delta Robot

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