DESIGN, FABRICATION AND CONTROL OF DELTA ROBOT FOR SORTING, PICKING AND PLACING

Articles in Press

Document Type : Original Article

Author

Mechatronics, Faculty of Engineering, Ain Shams University, Cairo, Egypt

Abstract

Delta robots are high-speed, high-precision parallel manipulators widely adopted in industrial automation for tasks such as pick-and-place operations, assembly, and surgical procedures. Their three-arm parallel kinematic structure offers superior rigidity, minimal moving mass, and high positional accuracy. This paper presents the design, implementation, and experimental validation of a multifunctional, vision-guided Delta robot prototype aimed at low-cost, adaptive automation. The development process integrated CAD modeling in SolidWorks, structural analysis using ANSYS 2022, and system-level simulation within the Robot Operating System (ROS) framework.
A physical prototype was fabricated featuring three actuated biceps and a gripper-based end-effector, coordinated via an open-source vision system. The control architecture incorporated a real-time camera module for color-based object detection, classification, and spatial localization using image segmentation techniques. A red reference marker was used to define a consistent workspace origin, enabling accurate frame alignment. Kinematic modeling and trajectory planning, including forward and inverse solutions, were performed in MATLAB. Experimental trials demonstrated sub-millimeter manipulation accuracy and adaptive performance across varying object configurations. The results validate the effectiveness of the proposed system as a scalable, flexible platform for educational, research, and constrained industrial applications.

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Advanced Sciences and Technology Journal

Articles in Press, Accepted Manuscript
Available Online from 22 August 2025

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