IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE)

e-ISSN: 2278-1684,p-ISSN: 2320-334X, Volume 20, Issue 5 Ser. III (Sept. – Oct. 2023), PP 39-45
www.iosrjournals.org

Kinematics And Workspace Analysis Of The Delta Robot

Laining,Zheng1, Yongpeng,Chen2
1,2
(School of Agricultural Engineering and Food Science,Shandong University of Technology, Zibo ,China)

Abstract:
This article mainly introduces the structure and degree of freedom analysis of Delta parallel robot. Using space
geometry and vector algebra methods to establish a simplified kinematics model of a parallel robot .Use
geometric solution method to perform forward kinematic solution, the inverse solution is relatively simple,
which is to calculate the joint angle based on the position of the end platform. Finally, the workspace is
simulated and analyzed through Matlab software to verify that the parallel robot meets the needs of actual
engineering applications.
Key Word: Delta parallel robot; Kinematics analysis; Workspace; Matlab.
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Date of Submission: 18-10-2023 Date of Acceptance: 28-10-2023
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I. Introduction
The Delta parallel robot was invented by Dr. R. Clavel in 1985. It is the most commonly used type of
parallel robot today[1,2]. As people's understanding of the nature of robots deepens, parallel mechanisms that
meet the definition of robots are called parallel robots. It means that the moving platform and the static platform
are connected through at least two independent branch chains and have two or more degrees of freedom. , a
closed-loop mechanism driven in parallel[3,4,5,6].
Compared with series mechanisms, parallel robots have greater stiffness, compact and stable structure,
large load-bearing capacity, fast movement speed, and high positioning accuracy. Therefore, their applications
are becoming more and more widespread, and their development and research are becoming more and more in-
depth[7,8,9,10,11].

II. Delta Robot Kinematics Analysis

Structural composition of Delta robot
The Delta robot is composed of basic components such as a moving platform, a static platform, an
active arm, a driven arm, and a drive motor[12,13], as shown in Fig.1.

Figure 1. Delta robot structure model

Analysis of the robot’s degrees of freedom

The degree of freedom of a parallel mechanism refers to the minimum number of independent degrees
of freedom required for the relative movement of the end effector under the conditions of meeting the working
requirements. The degree of freedom of a mechanism is an important indicator of its movement performance [14].
The degrees of freedom of a parallel robot can be obtained by the famous Kutzbach-Grubler formula.Eq.1.
𝑔

𝐹 = 𝑑(𝑛 − 𝑔 − 1) + ∑ 𝑓𝑖 (1)
𝑖=1

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 Kinematics and Workspace Analysis of the Delta Robot

In Eq.1, F is the total number of degrees of freedom; n is the total number of components; g is the total
number of kinematic pairs, 𝑓𝑖 is the number of degrees of freedom of the i-th kinematic pair; d is the mechanism
order, d=6 for space mechanisms, and d=3 for planar mechanisms. The Delta robot has a static platform, a
moving platform, three active arms and three driven arms. The total number of components is n=8; the
mechanism has 3 rotating pairs and 6 Hooke hinges, and the total number of kinematic pairs is g=9. Each
rotating pair has only one degree of freedom, and each Hooke joint has two degrees of freedom [15,16].
Substituting the above parameters into Eq.1.
𝑔

𝐹 = 𝑑(𝑛 − 𝑔 − 1) + ∑ 𝑓𝑖 = 6 × (8 − 9 − 1) + 3 + 6 × 2 = 3
𝑖=1
Therefore, the Delta robot studied in this article is a three-degree-of-freedom parallel robot.
Forward kinematics solution
Given the rotation angles of the three active arms of the parallel robot, finding the position of the center
point of the moving platform is called the forward kinematics solution. For the forward solution of parallel robot
kinematics, the commonly used solution is to use a numerical solution method based on algebraic equations.
The advantage is that the mathematical model is simple and convenient for programming and calculation, but
the disadvantage is that the calculation amount is large and the solution speed is slow, during the solution
process, it is necessary to make trade-offs between multiple solutions, and appropriate initial values must be
given during calculation, otherwise it will easily cause the iteration to fail to converge. The geometric analysis
method used in this article can obtain the correct solutions to the positive solutions of all positions, avoiding the
problem of choosing between multiple solutions. When solving the three-degree-of-freedom parallel robot, the
derivation process is simple and clear[17].
Schematic diagram of the simplified model of the Delta robot, as shown in Fig.2. The slave arm BiCi
(i=1,2,3) is translated along the vector ⃗⃗⃗⃗⃗⃗
𝐵𝑖 𝑃 (i=1,2,3) respectively. After translation, we obtain DiP, three vectors
intersect at point P. The triangle △A1A2A3 formed by the static platform is an equilateral triangle, and the radius
of the circumscribed circle is known, the coordinates of point A in the coordinate system {O} can be obtained.
When the rod lengths and rotation angles of the three input rods are given, the coordinates of B in the base
coordinate system {O} can be obtained, and the translation vector CiP can be obtained, then the coordinates of
Di after Bi is translated can be obtained. In this way, the forward kinematics problem of the parallel robot
mechanism is ultimately equivalent to the problem of obtaining the vertex coordinate P of the triangular vertebra
P-D1D2D3. Under the condition that all side lengths and three vertex coordinates of the triangular vertebra are
known, it is easy to obtain The coordinates of vertex P in the base coordinate system {O}.

Figure 2. Delta robot simplified model diagram

The hinge point Ai (i=1,2,3) of the static platform is 120° circumferentially symmetrical, so the
coordinates of the hinge point can be expressed as:

𝑥𝐴𝑖 𝑅 𝑐𝑜𝑠 𝜔𝑖
[𝑦𝐴𝑖 ] = [ 𝑅 𝑠𝑖𝑛 𝜔𝑖 ] (2)
𝑧𝐴𝑖 0

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 Kinematics and Workspace Analysis of the Delta Robot
2𝜋
In Eq.2, ωi is the angle between OAi (i=1,2,3) and the X-axis of the coordinate axis, 𝜔𝑖 = (𝑖 − 1)
3
(i=1,2,3); R is the radius of the circumscribed circle of the hinge point of the static platform.
Vector ⃗⃗⃗⃗⃗⃗⃗⃗
𝐴𝑖 𝐵𝑖 (i=1,2,3) can be expressed as:
𝐿 𝑐𝑜𝑠 𝜃𝑖 𝑐𝑜𝑠 𝜔𝑖
⃗⃗⃗⃗⃗⃗⃗⃗
𝐴𝑖 𝐵𝑖 = [ 𝐿 𝑐𝑜𝑠 𝜃𝑖 𝑠𝑖𝑛 𝜔𝑖 ] (3)
−𝐿 𝑠𝑖𝑛 𝜃𝑖
In Eq.3, L is the length of the active arm; θi is the rotation angle of the active arm, both of which are
known quantities.
Then the coordinate vector of the active arm end point B i (i=1,2,3) can be expressed as:
(𝑅 + 𝐿 cos 𝜃𝑖 ) cos ωi
⃗⃗⃗⃗⃗⃗
𝑂𝐵𝑖 = ⃗⃗⃗⃗⃗⃗⃗
𝑂𝐴𝑖 +𝐴 ⃗⃗⃗⃗⃗⃗⃗⃗
𝐵
𝑖 𝑖 = [ (𝑅 + 𝐿 cos 𝜃𝑖 ) sin ωi ] (4)
−𝐿 sin 𝜃𝑖
The translation vector ⃗⃗⃗⃗⃗⃗
𝐶𝑖 𝑃 (i=1,2,3) can be expressed as:
−𝑟 𝑐𝑜𝑠 ωi
⃗⃗⃗⃗⃗⃗
𝐶𝑖 𝑃= [ −𝑟 𝑠𝑖𝑛 ωi ] (5)
0
In Eq.5, r is the radius of the circumscribed circle of the hinge point of the moving platform.
It can be concluded that the coordinates of the vertex Di (i=1,2,3) of the base triangle of the triangular
pyramid P-D1D2D3 in the base coordinate system {O} can be expressed as:
(𝑅 − 𝑟 + 𝐿 cos 𝜃𝑖 ) cos ωi
⃗⃗⃗⃗⃗⃗⃗
𝑂𝐷𝑖 = ⃗⃗⃗⃗⃗⃗⃗ 𝐵𝑖 𝐷𝑖 = ⃗⃗⃗⃗⃗⃗⃗
𝑂𝐵𝑖 + ⃗⃗⃗⃗⃗⃗⃗⃗ 𝑂𝐵𝑖 + ⃗⃗⃗⃗⃗⃗
𝐶𝑖 𝑃 = [ (𝑅 − 𝑟 + 𝐿 cos 𝜃𝑖 )𝑠𝑖𝑛ωi ] (6)
−𝐿 sin 𝜃𝑖
Therefore, the problem of solving the forward kinematics of the parallel robot becomes a problem of
finding the coordinates of the fourth vertex P, given the three vertex coordinates and edge lengths of the
triangular pyramid. The idea of solving the problem is to first find the vertical feet of the triangular pyramid
vertex P and the bottom triangle, and then find the vertical vector, thereby finding the coordinates of the vertex
P.
In this triangular pyramid,Fig.3. it is known that point E is the center of the circumcircle of triangle
△D1D2D3, and point F is the midpoint of D1D2. Because both △PD1D2 and △ED1D2 are isosceles triangles, and
point F is the midpoint of D1D2, we can get PF⊥D1D2, EF⊥D1D2. According to the three perpendicular theorem
of solid geometry, we can get D1D2⊥△PEF, so we can get PE⊥D1D2. In the same way, we can prove PE⊥D2D3
.Therefore, PE⊥△D1D2D3, we get that PE is the perpendicular to triangle△D1D2D3.

Figure 3. Delta robot equivalent kinematics model

The coordinate vector of vertex P in the base coordinate system {O} can be expressed as:
⃗⃗⃗⃗⃗
𝑂𝑃 = ⃗⃗⃗⃗⃗ 𝐸𝑃 = ⃗⃗⃗⃗⃗
𝑂𝐸 + ⃗⃗⃗⃗⃗ 𝑂𝐹 + ⃗⃗⃗⃗⃗
𝐹𝐸 + ⃗⃗⃗⃗⃗
𝐸𝑃 (7)
In Ep.7, since point F is the midpoint of side D1D2, so the vector ⃗⃗⃗⃗⃗
𝑂𝐹 can be expressed as:
⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗1 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑂𝐹 = (𝑂𝐷 𝑂𝐷2 )⁄2 (8)
⃗⃗⃗⃗⃗ can be expressed as:
The vector 𝐹𝐸
⃗⃗⃗⃗⃗ = |𝐹𝐸
𝐹𝐸 ⃗⃗⃗⃗⃗ | × ⃗⃗⃗⃗⃗⃗
𝑒𝐹𝐸 (9)
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 Kinematics and Workspace Analysis of the Delta Robot

⃗⃗⃗⃗⃗ | of the vector ⃗⃗⃗⃗⃗

Express the modulus |𝐹𝐸 𝐹𝐸 as:

2 2
⃗⃗⃗⃗⃗ | = √|𝐷
|𝐹𝐸 ⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
1 𝐸 | − |𝐷1 𝐹 | (10)
⃗⃗⃗⃗⃗⃗⃗
The radius |𝐷 1 𝐸 | of the circumcircle of triangle △D1D2D3 is expressed as:

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝐷 1 𝐷3 |
⃗⃗⃗⃗⃗⃗⃗
|𝐷 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
1 𝐸 | = |𝐷1 𝐷2 | ∙ |𝐷2 𝐷3 | ∙
4𝑆
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑆 = √𝑝(𝑝 − |𝐷 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
1 𝐷2 |)(𝑝 − |𝐷1 𝐷3 |)(𝑝 − |𝐷2 𝐷3 |)
(11)

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
(|𝐷 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
1 𝐷2 | + |𝐷1 𝐷3 | + |𝐷2 𝐷3 |)
{𝑝 = 2
The unit vector ⃗⃗⃗⃗⃗⃗
𝑒𝐹𝐸 is expressed as:
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐷1 𝐷2 × ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐷2 𝐷3 × ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐷1 𝐷3
𝑒𝐹𝐸 =
⃗⃗⃗⃗⃗⃗ (12)
|𝐷1 𝐷2 × 𝐷2 𝐷3 × ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝐷1 𝐷3 |
The vertical vector ⃗⃗⃗⃗⃗
𝐸𝑃 can be expressed as:
⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ | ∙ ⃗⃗⃗⃗⃗⃗
𝐸𝑃 = |𝐸𝑃 𝑒𝐸𝑃 (13)
The module of vector (EP) can be expressed as:
2 2
⃗⃗⃗⃗⃗ | = √|𝐷
|𝐸𝑃 ⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
1 𝑃 | − |𝐷1 𝐸 | (14)
The unit vector ⃗⃗⃗⃗⃗⃗
𝑒𝐸𝑃 can be expressed as:
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐷1 𝐷2 × ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐷2 𝐷3
𝑒𝐸𝑃 =
⃗⃗⃗⃗⃗⃗ (15)
|𝐷1 𝐷2 × ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝐷2 𝐷3 |
After the above calculation and derivation, the forward solution to the kinematics of the parallel robot
is obtained. According to the rotation angle θi (i=1, 2, 3) between the active arm and the static platform, the
position of the center of the moving platform can be obtained.

Inverse kinematics solution

When the position of the center point of the parallel robot's moving platform is known, solving the
rotation angles of the three active arms is called the inverse kinematics solution.Assuming that the rotation
angles of the three drive joints of the Delta robot are θi (i=1,2,3), according to the forward kinematics formula of
the robot, the coordinates of the active arm end point Bi (i=1,2,3) in the base coordinate system {O} can be
obtained,the coordinates of the driven arm end point Ci (i=1,2,3) in the coordinate system {P} can also be
obtained. Since the position of the center point P of the moving platform is a known quantity, the coordinates of
point Ci (i=1,2,3) in the base coordinate system {O} can be obtained. Taking the length LBC of the driven rod as
a constraint, the rotation angle θi (i=1,2,3) of the driving joint can be obtained through the equations[18,19,20].
The coordinates of the active arm end point Bi in the base coordinate system {O} can be expressed as:
𝑥𝐵𝑖 (𝑅 + 𝐿𝐴𝐵 𝑐𝑜𝑠𝜃𝑖 )𝑐𝑜𝑠ωi
𝑦
[ 𝐵𝑖 ] = [ (𝑅 + 𝐿𝐴𝐵 𝑐𝑜𝑠𝜃𝑖 )𝑠𝑖𝑛ωi ] (16)
𝑧𝐵𝑖 −𝐿𝐴𝐵 𝑠𝑖𝑛𝜃𝑖
The coordinates of the driven arm end point Ci in the coordinate system {P} are expressed as:
𝑃𝑥𝐶𝑖 𝑟𝑐𝑜𝑠ωi
[𝑃𝑦𝐶𝑖 ] = [ 𝑟𝑠𝑖𝑛ωi ] (17)
𝑃𝑧𝐶𝑖 0
The coordinate of the center point P of the moving platform in the base coordinate system {O} is
[𝑥 𝑦 𝑧]𝑇 , then the coordinate of point Ci in the base coordinate system {O} can be expressed as:
𝑥𝐶𝑖 𝑥 + 𝑟𝑐𝑜𝑠ωi
[ 𝑦𝐶𝑖 ] = [ 𝑦 + 𝑟𝑠𝑖𝑛ωi ] (18)
𝑃𝑧𝐶𝑖 𝑧
Because |𝐵 ⃗⃗⃗⃗⃗⃗⃗
𝑖 𝐶𝑖 |=LBC , so we have Eq.19.

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 Kinematics and Workspace Analysis of the Delta Robot

[(𝑅 − 𝑟 + 𝐿𝐴𝐵 𝑐𝑜𝑠𝜃𝑖 )𝑐𝑜𝑠ωi − 𝑥]2 + [(𝑅 − 𝑟 + 𝐿𝐴𝐵 𝑐𝑜𝑠𝜃𝑖 )𝑠𝑖𝑛ωi − 𝑦]2 + (𝐿𝐴𝐵 𝑠𝑖𝑛𝜃𝑖 + 𝑧)2 = 𝐿2 𝐵𝐶 (19)
𝜃
Let, tan 𝑖 = 𝑡 , equation 19 can be simplified to equation 20
2

𝐴𝑖 𝑡 2 𝑖 + 𝐵𝑖 𝑡𝑖 + 𝐶𝑖 = 0 (20)
𝐴𝑖 = (𝑅 − 𝑟)2 + 𝑥 2 + 𝑦 2 + 𝑧 2 + 𝐿2𝐴𝐵 − 𝐿2 𝐵𝐶 + 2(𝐿𝐴𝐵 − 𝑅 + 𝑟)(𝑥𝑐𝑜𝑠𝛼𝑖 + 𝑦𝑠𝑖𝑛𝛼𝑖 ) − 2(𝑅 − 𝑟)𝐿𝐴𝐵 ;
𝐵𝑖 =4z𝐿𝐴𝐵 ;
𝐶𝑖 = (𝑅 − 𝑟)2 + 𝑥 2 + 𝑦 2 + 𝑧 2 + 𝐿2𝐴𝐵 − 𝐿2 𝐵𝐶 + 2(𝑟 − 𝐿𝐴𝐵 − 𝑅)(𝑥𝑐𝑜𝑠ωi + 𝑦𝑠𝑖𝑛ωi) + 2(𝑅 − 𝑟)𝐿𝐴𝐵 ;
Equation 20 is a quadratic equation about 𝑡𝑖 . Solving for 𝑡𝑖 , we can get equation 21,

−𝐵𝑖 ± √𝐵𝑖 2 − 4𝐴𝑖 𝐶𝑖

𝑡𝑖 = (21)
2𝐴𝑖
Therefore, when the coordinates of the center of the robot's moving platform are given, the rotation
angle θi (i=1,2,3) , can be obtained according to Eq.21.we can get equation 22.
𝜃𝑖 = 2𝑎𝑟𝑐𝑡𝑎𝑛𝑡𝑖 (22)
According to the calculation results of the inverse kinematics of the robot, there are two sets of
solutions for the rotation angle corresponding to each group of active arms, and the combination of the three
groups of active arms will produce a total of eight sets of solutions. When the active arm is inside the static
platform, that is, when the rotation angle θi at the end point Ai is greater than 90°, interference will occur
between the robot's rods, which will cause damage to the mechanism. Therefore, when inverse kinematics
generates multiple solutions, a set of solutions with the active arms located outside the static platform should be
selected, that is, the set of solutions with a smaller selection angle should be selected.

III. Delta robot workspace analysis

The working space of the delta parallel robot is the set of all positions that the moving platform can
reach. It is an important indicator to measure the working performance of the robot. Through the positive
solution of kinematics, the corresponding relationship between the active arm rotation angle and the position of
the moving platform can be obtained[21,22,23].
Assume that the parallel robot under study will work on a conveyor belt with a width of 800mm.
According to practical engineering experience, a set of robot structural parameters can be set first. After
programming with Matlab software, a three-dimensional view of the robot's workspace can be drawn to check
whether it conforms to the actual project.
Table no 1 : Structural parameters of Delta robot.
Name symbol Parameter value
Active arm length La 360mm
Follower arm length Lb 900mm
Radius of circumscribed circle of static platform R 260mm
Radius of circumscribed circle of moving platform r 50mm

Matlab simulation drawing results:

Figure 4. 3D view of the reachable workspace Figure 5. XOZ Plane projection diagram

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 Kinematics and Workspace Analysis of the Delta Robot

Figure 6. XOY Plane projection diagram Figure 7. YOZ Plane projection diagram

From the generated outline of the workspace, Fig 5,6,7, it can be seen that the reachable range of the
parallel robot in the X-axis direction is -680~680mm, the reachable range in the Y-axis direction is -
680~680mm, and the reachable range in the Z-axis direction is -1230 ~ -410mm.

Figure 8. Schematic diagram of the effective workspace of the Delta robot

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 Kinematics and Workspace Analysis of the Delta Robot

Under actual working conditions, the parallel robot mainly completes the grasping-translation-
placement operation task. Its movement range is approximate to a cylinder. As shown in the figure 8, the
effective working space ranges from -560 to 560mm in the X-axis and Y-axis range, and in the Z-axis range is -
780~-620mm, which forms a cylinder with a diameter D=1120mm and a height h=260mm. This effective
working space can meet the trajectory operation needs in actual engineering applications.

IV. Conclusion
Through the kinematics analysis of the robot in this article, we have obtained the methods for solving
forward and inverse kinematics, and in subsequent research, we can use matlab programming to solve the results
of the forward and inverse position solutions faster. Drawing a workspace diagram through matlab allows us to
observe the effective workspace of the robot more intuitively and meet the design needs of the project. Position
analysis is the prerequisite for studying robot workspace and trajectory planning, and also lays the foundation
for subsequent speed and acceleration calculations of parallel robots[24].

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