An Optimal Geometric Model for Clavels Delta Robot

Abstract

This paper discusses the Clavel's Delta parallelrobot and proposes an alternate solution to its kinematics/dynamic model. We meant to integrate these models into ona small electrical driving circuit that integrates an onboard microcontroller.We designed the solution by taking into accountthe reduced computing capability of small embedded systems.Direct kinematics (DK), differential kinematics, both direct (J)and inverse (invJ), and a simplified dynamic model will alsobe presented. The novelty of the approach relies in a series ofgeometric properties that allow to reduce the computationalload. When the three kinematics are computed together (DK,J, invJ), their computations can be expressed in few lines ofcode. The accuracy of motion, as well as the reduced computingpower, will be compared to classic algorithms . The proposedalgorithms have been implemented in a working system in thecontext of a telemedicine project.