Jinsoo Choi,∗ Kihyun Kim,∗ and Hyo-young Kim∗∗


Kinematics, workspace, torque, delta robot, RecurDynNomenclatureX, Y, Z: Cartesian coordinate system(the origin is the central point onthe fixed platform)Xi, Yi, Zi: Rotating a Cartesian coordinatesystem by αiO: Central point on the fixed platformP: Central point on the moving platform∗ Department of Mechatronics Engineering, Korea Polytech-nic University, Siheung, South Korea; e-mail: {feld456,khkim12}∗∗ Intelligent Manufacturing System R&D Department, KoreaIns


The kinematics of traditional delta robots are difficult to understand because they are omitted in the derivation process using the energy method for the principle of virtual work or complex matrix form. It is also difficult to analyse the elements that transmit forces owing to the omission of the local coordinate system. In this paper, an intuitive approach to finding the robot joint angle using algebra is presented. The process of finding the robot joint angle with respect to time requires a simple algebraic equation and basic vector operation. This allows a detailed understanding of the mechanism of changes in the coordinate points. In addition, the proposed kinematics can represent the coordinate system of the moving platform only by the coordinates of the combined parts of the actuator such that an additional sensor for measuring the local coordinate system in each joint is not required. Experiments and multibody dynamics were used to demonstrate and evaluate the proposed kinematics. The average error of the experimental and simulation results was within approximately 20%. The results of the simulation can help establish the criteria for selecting the specifications of an actuator.

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