Accuracy-Centric Design & Fabrication of DELTA Parallel Manipulator

DELTA platform is a 3 DOF parallel robotic manipulator – a popular positioning architecture for additive manufacturing applications.

Methodology

• Architecture synthesis, Forward & Inverse Kinematics, Workspace determination
• Kinematic Error model & Optimization of Kinematic accuracy using MATLAB Optimization Toolbox
• Multibody Dynamics – performed rigid-body & flexible-body dynamic simulations using MSC ADAMS
• Control Systems Design – implemented a servo-motor position control model using Arduino-Mega
• Fabrication, Integration & Testing

This project was declared the best capstone project in the mechanical engineering department for the batch 2011-2015.

Tools & Technologies

MATLAB, Optimization, Genetic Algorithm, SolidWorks, ANSYS, MSC ADAMS, Fabrication