Forward Kinematics of 3 Degree of Freedom Delta Robot

Abstract

Delta robot is a type of parallel robot. It consists of three arms connected to universal joints at the base. In this project, 3 degree of freedom Delta robot use of parallelograms in the arms, this maintains the orientation of the end effectors. The development of the Delta robot corresponds to the current requirement of having a robot able to transfer amount of light object in the least time. In this paper involves forward kinematics calculation using S-S (spherical-spherical) joint pair and compared with real position of Delta robot.