Modeling, Design and Control of a 4-arm Delta Parallel Robot

Abstract

This project aims to study, design, and control a four-arm delta parallel robot for intelligent automation applications. The study began with kinematic and dynamic modeling and motion space analysis in MATLAB, followed by digital mechanical design and component interlocking testing of the structure using SolidWorks. The electronic control board's paths were then engineered and routed, and its circuitry simulated using Proteus. After transitioning from simulation to real-world implementation and actual manufacturing of the robot's components, a hybrid drive and control system was built. This system combines the mathematical processing capabilities of MATLAB with real-time control of input/output modules on an Arduino board via serial communication. The final experimental results demonstrated exceptional efficiency, dynamic stability, and high path-tracking accuracy, which were practically proven through four integrated applications: high-resolution 2D motion drawing, wireless remote control using Bluetooth, a computer vision system for real-time tracking and sorting of blue objects via a camera, and finally, simulation of industrial production lines using a rapid pick-and-place cycle.