9 VIII August 2021

https://doi.org/10.22214/ijraset.2021.37608
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 9 Issue VIII Aug 2021- Available at www.ijraset.com

Design and Development of Multipurpose Delta

Robot
Dr. Anil Sahu1, Onkar Kolapkar2, Aniket Dhamdhere3, Saurabh Jadhav4, Mayur Gaikwad5
1
Associate Professor. Department Of Mechanical Engineering, G.H. Raisoni College Of Engineering And Management, Wagholi,
Pune-412 207, MH, India
2, 3, 4, 5
Student Department Of Mechanical Engineering, G.H. Raisoni College Of Engineering And Management Wagholi, Pune-412
207 MH, India

Abstract: This report represents an designing and simulating ideal pick and place robot which should carry out the operations in
minimum time and should also be cost efficient. It is four degrees of freedom parallel configuration used for very high speed
pick and place operations. The objectives of this report are designing a Delta robot capable of carrying 1kg payload, achieving a
cycle rate of 120 cycles per minute covering a work volume of 400x300x200 mm3. The project involves Kinematic & Dynamic
modeling of the robot for the above specifications. The kinematic parameters, involving the lengths of the bicep and forearm, are
calculated based on the work volume requirements and the dynamic parameters, involving the motor torque and speed, are
calculated based on the maximum acceleration requirements and the inertia of the system. The project further involves the
structural analysis of the robot which deals with the proper sizing of the mechanical structure which should be capable of
withstanding the high torque and acceleration required for smooth and fast motion. The future work involves integrating the
mechanical system with the control system and programming the system for a particular application.

I. INTRODUCTION
Parallel robots have advantages for many applications in the fields of robotics, such as rigidity, speed, low mobile mass and superior
accuracy. However, the main drawback of parallel robots is their small workspace and often limited manipulability in certain areas
of the space. Several research initiatives conducted in this domain, particularly those by Clavel, have led to innovative architectures
such as the famous DELTA robot .The DELTA robot has attracted much attention in both academia and industry. The literature
contains much information on the history and types of parallel robots. In general, the DELTA robot consists of an equilateral
triangular base, with one arm (actuated via a ball joint) extending from each side. The small, triangular travelling plate is connected
to each arm by a pair of parallelogram-shaped forearms. The key design feature is the use of parallelograms in the arms, which
maintains the orientation of the end effecter, by contrast to Stewart platform that can change the orientation of its end effecter. Delta
robots have popular usage in picking and packaging factory.

A. Kinematics Of The Robot

Fig. 1 Kinematics of Robot

The Delta robot consists of a moving platform connected to a fixed base through three parallel kinematic chains. Each chain
contains a rotational joint activated by actuators in the base platform. The movements are transmitted to the mobile platform through
parallelograms formed by bars and spherical joints.
Forward kinematics involves the computational method to identify the configuration of the robot in Cartesian space while
specifying the joint space parameters.

© IJRASET: All Rights are Reserved 1471

 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 9 Issue VIII Aug 2021- Available at www.ijraset.com

B. Design

Fig. 2 CAD model Fig. 3 CAD Model

C. Material Used
The materials selected for the manufacturing of the body is:
1) Mild Steel (grade 250)
2) Aluminium
Because the Acrylic material is very difficult to be get modelled as the cylindrical one. Thus it has been rejected. The cubical base
frame is manufactured using the Mild Steel and the other parts like the upper plate, lower plate, distal link, parallelogram link and
the gripper will be manufactured by using the Aluminium with less strength. The material has been selected based on the yield
strength of the material (193MPa).

Fig. 4 Material Properties

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 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 9 Issue VIII Aug 2021- Available at www.ijraset.com

D. Work Volume Analysis

The desired work volume is usually described in terms of maximum reach diameter of the delta robot which was decided to be 600
mm.Optimized Input kinematic parameters for the desired work volume:
฀Bicep length = 194.70mm
฀Forearm length = 388.66 mm
฀Base triangle side length = 173.32 mm
฀End effecter triangle side length = 53.72mm
฀Ball joint pivot angle range = +/- 60 degrees
Motor axis revolute joint restriction = - 60 to +130 degrees

Fig. 5 Work Volume Analysis

E. Stress Analysis
Von Mises stress is a value used to determine if a given material will yield or fracture. It is mostly used for ductile materials, such
as metal

Fig. 6 Stress Analysis

Fig. 7 Stress Analysis

© IJRASET: All Rights are Reserved 1473

 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 9 Issue VIII Aug 2021- Available at www.ijraset.com

F. Weight Calculation
From the cad model the calculation of the mass have been done
Weight of the body = 4.5kg
Weight of the base frame = 2.3kg
Weight of the distal joint = .5kg
Weight of the parallelogram joint = .6kg
Weight of the servo gripper = .35kg
Weight of the servo motor = .75kg
Maximum Payload of the robot = 0.3kg
The total weight that the motor have to lift = 2/3kg
A motor has to lift = 0.667 kg

G. Motor Selection
Since the delta robot has been used for accurate picking and placing of the object, the perfect motor for the operations is
SERVOMOTOR. A servomotor is a rotary actuator that allows for precise control of angular position, velocity and acceleration. It
consists of a suitable motor coupled to a sensor for position feedback. It also requires a relatively sophisticated controller, often a
dedicated module designed specifically for use with servomotors. Servomotors are not a specific class of motor although the term
servomotor is often used to refer to a motor suitable for use in a closed-loop control system.
Servo motor should be connected with some microcontroller in order to make it actuated. In the microcontroller a program will be
incorporated to actuate the servomotor, in between the there is a need of motor driver circuit to make the connection of the
servomotors with the microcontroller. Through the motor driver circuit the servo motor is controlled as well as drove in accordance
with our need. The connection of the motor with the microcontroller can be given by:

Fig. 8 Servomotor

H. Suction Cups
The self-sealing suction cups have been incorporated in robots to improve their passive grasping capabilities. Due to the design of
the suction cups, a central vacuum source can be used to effectively generate suction force from the cups and reduce the number of
actuators and sensors for the robot.
Researchers from ARL designed and developed a three-finger hand actuator system using a 3D printer in order for the robot to
properly utilize the self-sealing suction cups. Four suction cups run along the bottom of each finger, which contains a narrow
vacuum channel running through the center. A central vacuum pump serves to power the suction cups and facilitate grasping. The
fingers can also curl around the object to better grasp it and release any object in its hold by feeding back the output of the vacuum
pump and emitting a burst of positive pressure.
The three-finger hand has been used by aerial systems and has demonstrated considerable success in grasping objects on the ground
while maintaining flight. According to ARL researchers, the self-sealing suction cups may exhibit higher rates of success
underwater due to the extra pressure from the sea depths surrounding and pressing against the object and grasper.[5] However, they
noted that an underwater environment would require different manufacturing materials that would allow the suction cups to perform
well in salt water, such as a thermal plastic.

© IJRASET: All Rights are Reserved 1474

 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 9 Issue VIII Aug 2021- Available at www.ijraset.com

Fig 9. Suction Cup

I. Economic Consideration
One of the biggest challenges when implementing this system was the economic impact of both building it and keeping it in
operation. Since this robot will be used as a learning tool, it was necessary to keep costs to a minimum while still create a robust,
effective system. For this reason many of the parts were custom machined out of stock or scrap metal. The most expensive
components are the motors and motor controllers which were donated. Although the robot was successfully built for approximately
Around RS. 1,10,000/- the cost of operation and maintenance is still a significant concern. these costs include electrical costs to
power and use the robot as well as repair costs for any damaged components. Although this robot poses economic concerns. But in
this project we analyzing and designing the delta robot so here adding the costing of manufacturing also And due to this our cost
will be minimize.
II. CONCLUSION
To design a marketable product which could be offered for applications in industry?
The future work is to realize the robot in its physical form. In order to realize the robot in its physical form, a lot of material
procurement is to be done and then the work will be to integrate the electrical and mechanical systems together and provide the end
user with an easy-to-use user interface. The mechanical parts are likely to be fabricated within the industry and the electrical parts
are to be optimally chosen and procured. Most of the mechanical parts will be fabricated within the industry itself except for a few
parts like carbon fiber tubes for the arms which will be procured from other manufacturers. The electrical part of the robot will
include servo motors and drives and the control system used to run them in an accurate and synchronized manner.
This robot is ideal to automate tasks which so far have been too fast and too complex for robots. It is also possible to support
intelligent functions using Computer Vision System (iRVision). In this project we analysing and desiging the delta robot.
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