Proceeding of the IEEE

International Conference on Robotics and Biomimetics (ROBIO)

Shenzhen, China, December 2013

Dynamic Optimization and Building of a

Parallel Delta-Type Robot
L. Angel, J. Bermúdez, O. Muñoz
Universidad Pontifica Bolivariana
Facultad de Ingeniería Electrónica
Bucaramanga, Colombia
(luis.angel, jamith.bermudez, omar.munoz)@upb.edu.co

Abstract—In their search for perfection and competitiveness,
Colombian industrial concerns now see in robotics a viable way
to improve their processes. On such ground, this paper proposes
design methodology of a parallel Delta-type industrial robot. This
type of robot is an alternative for Colombian industries, since its
great advantages of Speed, Precision, and Accuracy make it
usable in product packing and selection. The prototype made will
allow future applications in the regional industry, guaranteeing a
suitable process automation alternative.
Keywords- parallel robot, delta robot, mechanical design
I. INTRODUCTION
The fast advancement of technology and the proliferation of
international free trade agreements of today’s globalized world
make modernization of Colombian industry a must, with
robotics as an alternative. Therefore, implementation of robots
is proposed to improve industrial efficiency and product
quality, so as to reach higher world-wide competitiveness
levels at reasonable costs.
The agro-industrial and food productive sectors common to
Colombia and so many other countries need automated robotic
structures to improve product quality and capability of carrying
out tasks requiring features of speed, strength, acceleration and
rigidness, such as selection and packing of mass-produced
commodities, welding of parts, and product assembly, among
others.
Consequently with the above, the Industrial Control
Research Group conducting research in industrial robot
systems at Pontificia Bolivariana University embarked on
construction of a three-degree-freedom Delta type industrial
robot prototype, to be used by the agricultural and food-
processing sectors of Colombia’s industry.
The Delta robot was proposed by Clavel [1], as a robust
parallel structure with three freedom degrees of locomotion,
and one of turning, constructed with parallelograms.
The Delta-type parallel robot is made up of two platforms,
one fixed, the other mobile, and three closed kinematic chains
equal among themselves and separated by a 120-degree angle.
Each kinematic chain is made up of two links: arm and
forearm, and two passive articulations. The motors are placed
on the fixed platform and they transfer motion to the fixed
platform by means of the movement combination of each
closed kinematic chain (Fig.1). The fixed position of the
motors allows inertial load reduction, resulting in higher
mobile platform speed and acceleration, which in turn allows
the robot to position the mobile platform only in Cartesian
space.
Prototype design went through the following stages:
dynamic simulation starting from previously defined
dimensions, selection of commercial motors, mechanical
structure design, purchase of required elements, and control
hardware design.
The rest of the paper is organized thus: after the
introduction, the robot’s kinematic models and the trajectories
planner are developed, followed by dynamic simulation model
of the Delta robot designed by ADAMS, and finally, the
prototype constructed is detailed, as are the conclusions and
future work.
II. KINEMATICS ANALYSIS
Kinematics is the study of the movements a mechanism is
capable of, subject on one side to its geometrical restrictions,
and on the other to the restrictions imposed by the articulations
holding together the mechanism’s component bodies.
Kinematic analysis solves two problems: the inverse kinematic
problem, and the direct kinematic problem. Inverse kinematics
allows determination of the values of the articular coordinates,
starting up from a given position and direction provided by the
mobile platform. The direct kinematic problem allows
calculation of the position and direction of the mobile platform,
given the articular coordinates. For the Delta robot, the
kinematic models are developed from the geometric parameters
shown in Fig. 2. [2]
Figure 1. Delta Robot

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A. Inverse Kinematics Model B. Direct Kinematics Model
The inverse kinematics model finds the input angles to In this kinematic model, the angles are given, and
robot for a given position by mobile platform Σ . The determination of the position of point Σ is called for. The
inverse kinematics model uses the result found by Clavel [3]. center of the mobile platform is the intersection of three
In this case, the equation (1) represents a sphere with radius , spheres (1) centered at and with radii . Two possible
centered in , which results in the geometric place of . intersection points exist, but only one of them can be physically
reached, as shown in Fig. 4.
1,2,3 (1)

A second restriction is imposed by the circular trajectory of

centered in Σ with a radius,

(2)
The point C is located at the intersection of the sphere (1)
an the circle (2) in the plane
0 (3)
The equations (1), (2) y (3) generate a quadratic equation at
, necesary to find

(4)

Equation (4) defines two possible solutions for each

Figure 3. Eight possible solutions of the Inverse Kinematics
articulation. Only one of them can be physically reached by the Problem
manipulator. This result leads to the conclusion that eight
possible solutions of the inverse kinematic model exist for a
given operational position (Fig. 3). So as to avoid singularities
and ensure a practical implementation, election of each
articular position is subject to the following geometrical
conditions:
If 0 ; is given by the equation (4)
and if 0; is corrected by .

Figure 4. Point of intersection over the middle of mobile platform

III. TRAJECTORY PLANNER

The trajectories planner sets the trajectory that each of the
robot’s joints is to follow in order to be able to bring the mobile
platform from an initial point to a final point through a
Cartesian trajectory within established speed and acceleration
parameters. These trajectories are selected taking into account
the physical restrictions of the motors, as well as certain quality
trajectory criteria, like gentleness and precision [4].
Therefore, an interpolator by segments of the form 6-1-6
has been implemented, which basically breaks down in three
consecutive segments the trajectory joining two spacial or joint
points. Segment one corresponds to motor acceleration;
segment two corresponds to constant motor velocity, and
segment three corresponds to motor deceleration. Segment two
utilizes a linear interpolator, and therefore its speed remains
steady, rendering velocity changing maneuver on the actuator
unnecessary. The initial and final segments avail of a sixth-
grade polynomial, resulting in gentle variation of speed from
Figure 2. Geometric Parameters

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zero to motor top speed in segment one, whereas in segment
three, speed varies from motor top speed to zero [5].
Then, whereas acceleration in the initial and final segments
reaches constant values different from zero, it is nil in the
intermediate segment. A Cartesian planner has been used in
this design, receiving an initial Cartesian position, and a final
Cartesian position, to join these two points by means of a
straight line.
Position, velocity and acceleration profiles can be observed
in Fig. 5, obtained by MSC ADAMS and the 6-1-6 interpolator
in the Cartesian space. While movement between initial and
final spatial points is linear, its speed is 400 mm/s.
developed in MSC ADAMS that allows model construction to
take place in relatively short time, considerably reducing
simulation and validation time taken by the design process.
The objective of dynamic simulation is finding each
motor’s maximum torque in execution of desired movement in
order to define commercial prototype motors. In finding these
torques, the platform must be in spatially critical positions,
which are those where the motors deliver the most torque.
Possible critical trajectories were established at the work
space based on the previously implemented planner, and they
were loaded on the dynamic simulation model through MSC
ADAMS VIEW. Using the MSC ADAMS POST
PROCESSOR the trajectory dynamic simulation answers were
visualized, compared, and analyzed, as shown in Fig. 6, to
pinpoint the position at which the most torque is delivered,
which defines the features of the motor to be used.
Several trajectories were tested in MSC ADAMS so as to
obtain maximum torque and average torque for each trajectory.
As an example, Fig. 7 shows the results obtained for a
simulation run, showing the spatial movement of the mobile
platform from initial point to final point, initial and final
positions of the simulation model, position, speed and
acceleration profiles, as well as torques obtained.
The conditions for the test motions were:
• Initial Point: (0,0,180) cm
• Intermediated Points:
o (50,50,340) cm
o (50,-50,340) cm
o (-50,-50,340) cm
• Final Point: (-50,50,340) cm
• Mobile Platform Velocity: (400 mm/s)

TABLE I. WEIGHTS, LENGTHS AND RADIUS OF LINKS

LINK LENGTH (mm) WEIGHT (g)
Arm 218.4 542.4
Forearm 171.9 131.4
PLATFORM RADIUS (mm) WEIGHT (g)
Fixed 70 3000
Mobile 35 141.7

Figure 5. Profiles of the Interpolator 6-1-6

IV. DYNAMIC SIMULATION

Development of the simulation model of the Delta robot
mechanical structure in MSC ADAMS is based on the weights
and dimensions previously established by Ángel [2] and shown
in Table I.
Development of whatever model simulation in MSC
ADAMS is a painstaking, time-consuming process, especially
in the cases of kinematic system Analysis and optimization,
where prototype design will require numerous model
modifications. For the simulation model, a library was Figure 6. ADAMS ¨POST_PROCESSOR

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 (a) Cartesian Trayectory
(g) Torques

Figure 7. Cartesian Movement of the mobile platform from the

initial point to the final point

2. 3. Table II shows the torques obtained through ADAMS

simulations for 6 different movements. These results allow
proper selection of motors capable of developing the torque
1. required in movements of the future prototype
A maximum torque of 7870.3 N·mm was obtained,
4. 5. corresponding to movement 5, which is a spatial position quite
(b) ADAMS Model Initial close to the workspace limits.
(c) Intermediate and Final Points
Point
V. MOTORS SELECTION
After determining maximum torque of the motors, it was
decided to find commercial motors made by renowned
companies and with ample market trajectory, like Siemens
(Siemens Industry, Inc.), Maxon (Maxon Motor) and Autonics
(Autonics Corporation), which have wide product catalogues,
where AC motors and servomotors stand out.
Among the wide range of servomotors, servomotor stands
1FK7083-2AH7 from Siemens, with a nominal torque of 8.3
N·m and a top speed of 3500 rpm, completely meeting the
(d) Position Profile design requirements

TABLE II. SIMULATIONS CARRIED OUT

MOTOR 1 MOTOR 2 MOTOR 3 TOTAL
TORQUE
Torque Max Torque Max Torque
MOVEMENT MAX
(N·mm) (N·mm) Max(N·mm)
(N·mm)
1 1089.03 1505.4 1352.9 1505.4
2 6157.0 6157.0 6157.0 6157.0
3 4160.0 5864.8 5129.1 5864.8
4 2870.2 2496.4 3410.6 3410.6
5 6735.0 7870.3 4919.6 7870.3
(e) Speed Profile 6 4986.9 2581.6 3267.3 4986.9

VI. MECHANICAL STRUCTURE DESIGN

SolidWorks design software was used in modeling the
pieces, which must be light-weight and rigid. The prototype has
3 kinematic chains identical to one another, made up of an arm
and a forearm, and they are joined to two platforms, one fixed
and the other mobile. Each piece was designed in such a way
that the rank of motion is within the previously established
work space.
(f) Acceleration Profile
The pieces designed by means of SolidWorks, using the
link lengths and radii of the platforms previously established in

447
MSC ADAMS for the dynamic simulation m
model, are shown degree separation [6]. Total weightt of the mobile structure is
below (Table I). 2.1 kg, for a 20cm diameter and d 20cm height cylindrical
workspace.
Fig. 8 shows the arm, made up of stainlless steel bars to
guarantee rigidity, with aluminum joints at eaach end, to secure
them to the articulations. The forearm has three main parts
made out of aluminum, firmly fastened byy means of four
screws, joined to the motor axle by means of a steel coupling.
Finally, Fig. 9 shows the mechanical structture, where each
piece is projected to be physically elaborated.

Figure 10. Prototype Built

Figure 8. Arm and Forearrm

Figure 11. Mobile

M Platform

Figure 9. Projected Prototype in S

SolidWorks

VII. PROTOTYPE BUILT

Fig.10 shows the prototype constructed, highlighting the
mechanical structure, the motors, and thhe reinforcement
Figure 12. Dettail of the Joints
structure. Fig. 11 and Fig. 12 detail the mobilee platform and the
passive articulations of the prototype.
The arms, forearms, mobile platform, annd fixed platform VIII. CONTROL HARD
DWARE DESIGN
are made of aluminum. The arms are made uup of two parallel The control hardware uses high-performance
steel bars converting the articular movementt of the motor in dsPIC33FJ128MC802 micro-contro ollers by Microchip, in a
spatial displacement of the mobile platform, too which the three Master-Slave structure, in charge ofo the digital control of the
kinematic chains are joined. The fixed plaatform is a 20- Delta robot. The driver of the mo otors is made up of an H
centimeter-radius aluminum disk unto whichh the motors are MC33932 bridge by Freescale, cap pable of both standing 5 A
securely fastened by means of clamps. Thhe reinforcement power and being controlled by PW WM generated by the micro-
structure is made up of three L-shaped, 1”-diiameter pieces of controller. It also offers protection
n against charge overpower
square tubing screwed unto the fixed platform
m and with a 120- and over-temperature, protecting th he rest of components. The

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robot is fed by means of a commuted source that provides the
power required by the motors and the control hardware. Fig. 13
details the control card and the physical position of the
previously described components.
6
4 3
ACKNOWLEDGMENT
The authors express their acknowledgment to the
Universidad Pontificia Bolivariana (Bucaramanga) by funding
received through the project "Control de Posicion de un
Prototipo de Robot Paralelo Industrial de Alta Velocidad Tipo
DELTA", through which it was possible to build the initial
prototype shown in this paper.
REFERENCES
[1] Clavel, R. (1988). Delta, a fast robot with parallel geometry. 18th Int.
Symposium on Industrial Robots, 91-100.

7 1 2 [2] Ángel Silva, L. (2005). Control Visual de Robots Paralelos: Análisis,

Desarrollo y Aplicación a la Plataforma Robotenis. Madrid: Escuela
Técnica Superior de Ingenieros Industriales.
[3] Clavel, R. (1991). Conception d'un robot parallèle rapide à 4 degrés de
liberté. Lausanne, Switzerland: EPFL.
[4] Barrientos, A., Peñín, L. F., Balaguer, C., & Aracil, R. (1997).
5 6 [5]
Fundamentos de Robótica. Madrid: McGraw-Hill.
Rueda Florez, J. D. (2008). Metodologia para el diseño de un robot
paralelo industrial tipo delta. Bucaramanga: Tesis de Grado.
[6] Bermudez G., Jamith y Muñoz M., Omar. (2011). Fabricación y control
Figure 13. Control Hardware de posición de un robot paralelo tipo delta con 3 grados de libertad,
Universidad Pontificia Bolivariana, seccional Bucaramanga.
1. Master Microcontroller
2. Slave Microcontroller
3. Voltage Regulation
4. Motor Driver 1 y 2
5. Motor Driver 3
6. Supply Input Motors
7. Connector RJ45

IX. CONCLUSIONS AND FUTURE WORK

This paper has presented design and construction of a
parallel robot and its control hardware. This system was
constructed in order to develop a research tool in the field of
parallel robot control, while at the same time offering the
region the opportunity to know new robotic structures
applicable to modernize its industrial processes. To such end, a
design methodology was developed using the direct and
inverse kinematic models of the robot, resulting in
development of a linear trajectory planner for generation of
gentle trajectories. By using ADAMS simulation model, the
maximum torque of the motors was pinpointed for a set of
trajectories of the mobile platform, and the dynamic model was
validated, allowing selection of commercial motors. Then, the
Delta robot prototype was designed in aluminum, obtaining
excellent structural rigidness of relatively low weight. The
prototype is a contribution to the region’s industrial sector, as a
viable project for process automation.
Future work includes development of a robust control
algorithm for control of the mobile platform position,
validation of the constructed prototype’s work space,
determination of the maximum speed reachable by the mobile
platform, as well as the mechanical restrictions imposed by the
prototype.

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