An experimental study on the development, kinematics and control of a 4-DOF delta parallel manipulator

In this article inverse kinematic model of Delta robots with 4 degrees of freedom is calculated and the process of this calculation is expressed in details. Here an experimental setup of the delta robot with four degrees of freedom consists of servo driver servo Motors mechanical components including covering flang, coupling and physical structure of the manipulator. There is also a PID controller based on inverse kinematic equations which is designed to take the difference value of the angles calculated by the encoder motor and the angels resulted from inverse kinematic equations for the input as the system error value and its output is given to motor as the velocity rule in order for the end effector of the manipulator to reach the desired value. Finally an experimental test has been done and its result is depicted as figure.