Kinematic resolution of delta robot using four bar mechanism theory

The present article shows the development of the kinematic analysis for a Delta Robot. The method used is the application of geometric theory of four-bar mechanisms; Starting from the lengths, distances and heights of each of the closed kinematic chains that make up the delta robot. The angles of each servomotor were calculated and controlled generating the positioning of the TCP (Tool Center Point). The results obtained were evaluated based on ISO 9283 that studies precision, accuracy and repeatability.