POSITIONING ACCURACY IMPROVEMENT OF DELTA PARALLEL ROBOT

Abstract

In recent years, Delta Parallel Robot have been in centre of attraction in the academic and industrial communities
because of potential applications not just limited to robot manipulators only but also as mechanisms and machine
tools. Mostly, the parameters used to evaluate the performance of traditional serial robots and parallel robots are
the workspace, the payload to the robot mass ratio, accuracy of manipulator, and its dynamic properties. Apart
from that, the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload
robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The
main drawback with parallel robots is the relatively small workspace. A great research work has been carried out
globally on Delta Parallel Robot and a large number of parallel mechanism systems have been built for numerous
applications, such as material handling, machine tools, medical robots, flight simulators, MEMS robots, and
humanoid robots. In this project a novel approach to design and to develop a Delta Robot has been carried out.