Design and analysis of a delta type robot

In this thesis, design and analysis of a Delta type robot manipulator has been performed by using Matlab and Solidworks software. For this purpose, firstly, the analytic model of a Delta robot has been created. The optimization has been applied by using of the Matlab program which is written to identify the arm lengths. These defined arm lengths has been used for designing of Delta robot?s three-dimensional mechanical models. The workspace of this robot design has been specified; and static and frequency analyses have been performed to identify the rigidity properties of the Delta robot in its workspace by using the Finite Element Method. The workspace analyses of the designed Delta robot have been performed and the results have been presented by three-dimensional graphics created by a Matlab program. In the case of the end-effector reaches different points, static displacements of end-effector?s endpoint, the stresses on robot and also the rigidity of Delta robot manipulator using the results of frequency analysis have been identified and analyzed by the help of these graphics.