The DELTA robot and the manipulators derived from the DELTA robot are a relevant class of translational manipulators. In this paper, the mobility analysis of these parallel translational manipulators is developed in full. The manufacturing and mounting conditions that guarantee the pure translation of the platform are analytically derived. Moreover, it is demonstrated that these manipulators ca...

In this paper, three translational parallel manipulators, i.e., the RAF, the 3UPU and the Delta, are analyzed for dexterity and workspace. First, the geometric models for these three robots were investigated to determine their respective workspaces. The kinematic models are also derived to calculate the global dexterity of each robot. A multi-objective optimization, where the global dexterity i...

Given an undirected, anonymous, port-labeled graph of $n$ memory-less nodes, $m$ edges, and degree $\Delta$, we consider the problem dispersing $k\leq n$ robots (or tokens) positioned initially arbitrarily on one or more nodes to exactly $k$ different graph, each node. The objective is simultaneously minimize time achieve dispersion memory requirement at robot. If all are a single node, depth f...

This paper proposes a sensor-based design methodology in order to Delta robot with guaranteed accuracy performance for dedicated controller. takes into account the of controller process find optimal geometric parameters robot. Three types controllers are envisaged be applied robot, leading three different designs: leg-direction-based visual servoing, line-based servoing and image moment servoin...

In this paper, a conceptual design of Delta robot is developed by means mechatronic methodology. A fully integrated design, clarifying the recurrence process using black-box/white-box analysis, presented Model Based Systems Engineering (MBSE) paradigm and SysML language as formal modeling tool. Multiple designs proposals are then evaluated non-linear Choquet integral in order to choose most app...

This study characterized the design and implementation of a low-cost autonomous robot capable of performing obstacle avoidance using neural networks trained with simulated sensor data. The only sensor used for detecting the environment was an infrared distance sensor attached to a hobby servo, allowing for 180° of sensor visibility. In order to train the neural networks, simulated sensor data w...