Geometrical Design of a RUU Type Delta Robot Based on the Predescribed Workspace

In this paper, a useful study of workspace analysis with classified sections, determination of the maximum inscribed workspaces and design of a RUU Delta robot based on a given workspace is presented. It contains the equations which are possible to define the geometric properties of all workspaces. In addition, the tables which include evenly distributed data have been made to be used for drawing with SolidWorks. It is necessary to know how the shapes of workspace are, then class them with the same groups. The result shows that it has four groups which have the good workspace for common application. The paper also provides two simple methods of Delta robot design with the predescribed workspace.