Сердце межпланетного лайнера

Delta Robot

Delta robots look really cool in action and they are useful for doing stuff. Wikipedia article: [Delta robot].

Model

March 25, 2010

To move the end effector to a required location in 3-D space, the set angle of all 3 servo motors has to be found from the location of end effector. This is a simple case of inverse kinematics that can be solved analytically. Here is my attempt to summarize all of the necessary math:

Delta Robot Analysis

To prove the ideas, I wrote a simulation program. Besides verification, it is also useful for finding optimal bone lenghts, base and effector dimensions and possible joint angles. It can also be used to estimate working area based on known parameters of existing hardware.

The simulation is written in Processing. It is known to have variable compatibility with browsers, so beware. You might have to wait until all code is loaded and initialized. The applet page contains links to all of the source code.

Delta Robot Simulation Applet

For the reference, here is another page with interesting analysis of delta robot kinematics, C code and a functioning robot: [Delta robot kinematics].

To be continued...