Eventos Anais de eventos
CONEM 2018
X Congresso Nacional de Engenharia Mecânica
DESIGN AND KINEMATIC ANALYSIS OF THE LINEAR DELTA ROBOT WITH SINGLE LEGS FOR ADDITIVE MANUFACTURING
Submission Author:
Efrain Rodriguez , DF
Co-Authors:
Efrain Rodriguez, Cristhian Ivan Riano Jaimes, Alberto Alvares
Presenter: Efrain Rodriguez
doi://10.26678/ABCM.CONEM2018.CON18-0343
Abstract
This article deals with the design and kinematic analysis of a new structure of the linear delta robot using single legs for Additive Manufacturing (AM)/3D printing. The design is approached through a structured methodology based on a reference model for the of mechatronic product development, which consists of three design domains: mechanical, electro-electronic and computational. A new structure for the linear delta robot is proposed using an innovative concept of delta mechanism with single legs and rotational joints. The new structure consists of twelve links (three parallel single legs), three prismatic joints and eleven rotational joints.The inverse and direct kinematic problems are solved for the proposed structure. Finally, a prototype of the robot is developed to validate the design concepts and functionality of the machine.
Keywords
linear delta robot, single legs, parallel kinematics, Additive manufacturing, 3D printing
