Mostafa Barghandan - Ph.D Student, University of Zanjan
Ali Akbar Pirmohamadi - Accosiate Professor, University of Zanjan
Narges Samanbakhsh - MSc student, University of Zanjan

In this paper, the design of the Low-Cost lightweight Delta robot has been investigated, that is a high-speed, light-load parallel robot. It has the features of lightweight, small volume, fast speed, precise positioning and high efficiency. In the first part a review of the robots classification from the point of view of structural topology expressed and the reasons for the development of parallel manipulator and their advantages are mentioned then the Delta robot mechanism and its main characteristics are introduced, in the second part revolute-input delta robot (RUU) kinematics and inverse kinematics (IPK) solution expressed then the design of the control system of PC and motion controller areintroduced in detail. Finally, the designed delta robot is presented and an example is provided to show the kinematic performance can be obtained, that is done by the PID control method, the robot controlled through three channels, and thus the robot end-effector follows the desired path.

parallel manipulator, Delta, Tsai manipulator, kinematics diagram, IPK