Objects color clasification and repositioning operated by a delta robot

Abstract

A delta robot is a parallel arms robot that consists of three arms like parts linked to a common joint located at the base. One of the most important characteristics is the usage of parallelograms situated in the arms that maintain the orientation of the end effector. Many engineering applications in mechatronics environment are being enhanced by the usage of different kinds of robots, and this robot is not the exception. Used in the aerospace industry is one of the most important robots that makes possible some of the greatest aircraft simulator systems. In this work, the design and construction of a delta robot capable to identify and relocate objects according to its color is shown. Direct and indirect robot kinematics were obtained to know the positions of the end effector and the robot arms. Some tests were carried out with a color sensor to recognize different colors and to classify the objects due to the main objective, that this project is aimed to be used in food companies to detect fruits or vegetables in poor condition.