CONTROL ELEMENTS OF A DELTA ROBOT LABORATORY MODEL

ABSTRACT. The article presents control elements of a mechanism with parallel kinematics, known as a delta robot. Manipulators of this type are increasingly used in industry to solve tasks related to the high-precision manipulation of small details. This is due to the fact that the movable platform always remains parallel to the base, and the architecture has very low inertia which allows the realisation of fast and precise movements. Commercial solutions are high priced due to the precision mechanics, expensive drive systems, proprietary control electronics, and various patents. At the same time, the programming software is most often closed source. These problems hinder the intervention in the structure and algorithms of the mechatronic system. A laboratory model is proposed, which allows the demonstration and study of various components of the construction, drive, feedback, and control of the robotic platform, as well as the program implementation of various algorithms. The construction of the built mock-up allows for easy upgrading and can be used in multiple academic course units related to education in the field of mechatronics.