Kinematics and Accuracy of the 3D-Printed Low-Cost Delta-Robot Óscar

Robotics stands as a pivotal force shaping the future of our society, revolutionizing industries from healthcare and manufacturing to transportation and exploration. While serial anthropomorphic robots dominate the industrial landscape, parallel Delta robots have long occupied a niche position, renowned for their exceptional speed, precision, and mechanical simplicity. Now, with the transformative power of additive manufacturing (AM) and 3D printing, the field of mechatronics is poised for unprecedented innovation. AM liberates design constraints, allowing greater complexity in geometry and the seamless integration of diverse materials, all while maintaining production accessibility. These advancements address a multitude of intricate engineering challenges, unlocking solutions that were once restricted by traditional design and manufacturing limitations. This work delves into the kinematics modeling and accuracy analysis of the Oscar family, a series of cost-effective, 3D-printed Delta robots. It presents a comprehensive examination of both forward and inverse kinematics modeling techniques, assessing the efficacy of the methodologies employed. Furthermore, this study will explore how subtle changes in design parameters impact the robot's positional accuracy throughout its workspace. By carefully analyzing these relationships, we can gain valuable insights that will guide the development of future Delta robots, pushing the boundaries of performance and affordability within this exciting field.