Modeling and Implementation of a 3 Degrees of Freedom Delta Robot through Gestalt Framework

Condori-Pacori L.; Anchayhua-Arestegui N. · 2023 9th International Conference on Control, Automation and Robotics, ICCAR 2023 (2023) · DOI: 10.1109/iccar57134.2023.10151760

Resumen

We propose a design of a delta robot with 3 degrees of freedom to perform the pick and place trajectory through the Gestalt Framework. The robot was implemented through modeling, design and simulation stages. The Gestalt Framework allowed the control of the 3 arms to perform the desired trajec-tory. A displacement of 15 cm was generated between the origin and the end point, which coincides with the simulation performed. Finally, the purpose for which this robot was implemented is to improve the production of packaging. For this reason, the Gestalt Framework was used, as it allows the addition of the necessary functions for this type of process.

Instituciones: Universidad Católica San Pablo