Aveka, Aveka and Rusli, Leonard P. and Jonathan, Steven (2020) Delta Robot Fourth Axis. Bachelor thesis, Swiss German University.

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Abstract

A traditional delta robot uses three arms to move with three degrees of freedom. This design makes the movement of the robot to be faster than most other designs. However, because of its speed the weakness of the design is a rotation actuator cannot be put on the end factor as it will be too heavy. A fourth axis will solve this problem and enable the robot to do rotational movement on its end factor therefore reducing the complication of adding another system and its cost. The fourth axis has to be able to adjust to any given position that the three axis are able to reach. This means it has to be able to shorten and lengthen while transferring torsion to the end factor. Because of its speed, the friction within the fourth axis has to be minimized and the moment of inertia also minimized. With the addition of the fourth axis, a gripper will also be added on the end factor, so the robot can be used for pick and place demonstration. The servomotor on the fourth axis and the gripper will then be synchronized with the existing PLC system, making the whole system integrated.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Mechatronics; Delta Robot; IGUS; Beckhoff; Kinematic; Synchronisation
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Faisal Ifzaldi
Date Deposited:	02 Nov 2020 14:08
Last Modified:	02 Nov 2020 14:08
URI:	http://repository.sgu.ac.id/id/eprint/1886

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