Diseño y construcción de un prototipo de robot delta para aplicaciones pick & place

Abstract

Industrial manipulators have become a key element in process automation, due to cost reduction, increased productivity, improved quality, etc. It is sought these mechanisms have high speeds and precision, posing new configurations as parallel manipulators, whose characteristic is a fixed platform and mobile platform joined by at least two kinematic chains. This project raises the study of parallel robots with focus on the construction of delta robot, which has spatial movement with three degrees of freedom. To execute the movements of the mechanism the study of the direct and inverse kinematics is made based on the geometry of the robot. An interface is created in MATLAB GUIDE, where you can perform manual and automatic control for the execution of tasks such as stacking and ordering circular objects captured through camera. In addition you can realize trajectories circle, turns, etc., that are embedded in the computational program.