Effect of Link Length Ratio on the Workspace of a Delta Robot
Swapnil S. Jogal1, K. Jayarajan2, Aqleem Siddiqui3
1Swapnil S. Jogal, Department of Mechanical Engineering, Mumbai University/ Fr.C.R.I.T., Vashi, Navi Mumbai (Maharashtra), India.
2K. Jayarajan, Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Trombay, Mumbai (Maharashtra), India.
3Prof. Aqleem Siddiqui, Department of Mechanical Engineering, Mumbai University/ Fr.C.R.I.T., Vashi, Navi Mumbai (Maharashtra), India.
Manuscript received on 15 April 2016 | Revised Manuscript received on 25 April 2016 | Manuscript Published on 30 April 2016 | PP: 103-106 | Volume-5 Issue-4, April 2016 | Retrieval Number: D4506045416/16©BEIESP
Open Access | Editorial and Publishing Policies | Cite | Mendeley | Indexing and Abstracting
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Delta robot design has attracted a great interest in industry and in academia. The aim of this paper is to study the effect of link length ratio on the vertical reach of a delta robot. Link length ratio is defined as the ratio of the length of a link attached to the motor at the base plate to the total length of links between the base plate and the moving plate. Based on the study, the optimum link length ratio is obtained for maximum depth of workspace. The study makes use of inverse kinematic algorithm. Workspace is plotted using MATLAB.
Keywords: Delta Robot, Inverse Kinematics, Link Length Ratio, Workspace.
Scope of the Article: Robotics Engineering