Design a 3-DOF Delta Parallel Robot by One Degree Redundancy along the Conveyor Axis, A Novel Automation Approach

This paper addresses the design of a 3 degree-of-freedoms (DOF) Delta parallel robot with one DOF redundancy attached to its base. This paper aims at presenting the state-of-the-art of the design and control for the proposed redundant robot for improving time and saving energy consumption. The main idea behind the proposed design consists in examining the performance of a movable Delta robot for pick-and-place purpose. To this end, some improvement has been made on the design of the robot. Spherical magnetic joints are used for the sake of easing the assembling and disassembling of components. At the end, kinematic properties of the robot are investigated.