Improving the accuracy of designing a delta robot for 3D printing

Abstract

Currently, there is a need in the industry for design changes to existing installations, such as conveyor lines, various machine tools, 3D printers, and so on. Designing delta robots for 3D printers reveals the advantages of using delta robots as working parts of printers compared to traditional designs. In this article, the direct and inverse problems of the kinematics of the delta robot are solved in a geometric way. Also, dependencies for the search for angular velocities and accelerations of the input links were obtained, which allows in the future to design more accurate working bodies of 3D printers. The research was carried out through mathematical modeling.