Stiffness Optimization of Delta Robots

Abstract

Dynamic manipulation tasks require lightweight yet stiff robotic systems, to achieve high efficiency and precision at the same time. The most widely spread parallel robot designed for these tasks is the Delta robot. To decide on the dimensional parameters for these systems, best meeting the foregoing requirements, this paper focuses on the optimum dimensional synthesis, combing kinematic, dynamic and stiffness design criteria. In addition to the kinematic parameters of the robot, the shape of the proximal links is optimized based on two different designs. One carrying a solid section and one a hollow section profile, both paradigms of the sections found in the market. A case study, based on a common application of the Delta robots, is used for a critical discussion on the performance of both proximal link designs.