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General Information
    • ISSN: 1793-8198
    • Frequency: Bimonthly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta; Prof. Ian McAndrew
    • Executive Editor: Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS),  ProQuest, Crossref, Ulrich's Periodicals Directory,  etc.
    • E-mail ijmmm@ejournal.net
Prof. Ian McAndrew
Capitol Technology University, USA
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2018 Vol.6(4): 264-267 ISSN: 1793-8198
DOI: 10.18178/ijmmm.2018.6.4.388

Analytical Based Inverse Kinematics Method for 5-axis Delta Robot

Hendriko Hendriko, Nurkhamdi, Jajang Jaenudin, and Imam M Muthahar
Abstract—Linear Delta Robot, or which is know as Parallel-Link Robot, is a three arms robot. The arms of robot was installed parallel with the central joint where the gripper was installed as the end-effector. Generally, the end-effector was aimed to pick and place an object in the workspace area of robot. The mechanism of gripper move at X, Y, Z axis was determined by calculating the inverse kinematics of every robot’s arms. Then the result was used to convert the motion of gripper from linear motion to become rotation motion. In this study, the analytical method to calculate the invers kinematics of five-axis delta robot was developed. By using this method, the rotation of actuator to achieved the required position could be calculated. The proposed method was tested by program the end-effector to follow a complex trajectory. By using a simulation program that was developed in this study, the rotation of every motor could be calculated.

Index Terms—Parallell robot, delta robot, invers kinematics, analytical method.

The authors are with Mechatronics Department, Politeknik Caltex Riau, Indonesia (email: hendriko@pcr.ac.id, khamdi@pcr.ac.id, jajang@pcr.ac.id, m.imammuthahhar@yahoo.co.id).


Cite: Hendriko Hendriko, Nurkhamdi, Jajang Jaenudin, and Imam M Muthahar, "Analytical Based Inverse Kinematics Method for 5-axis Delta Robot," International Journal of Materials, Mechanics and Manufacturing vol. 6, no. 4, pp. 264-267, 2018.

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