Computer Aided Design


The final computer model of our delta robot conists of approximately 170 parts, including 19 custom designed 7 GA (0.180") CRS sheet metal parts with a K-factor of 0.437 and a 0.125" inner bend radius, and 12 custom machined aluminum parts. During the design phase, each component was assigned appropriate densities, and a dynamic simulation was used to determine the required motor torques for a particular end effector acceleration. Our CAD was the backbone of our entire manufacturing process; it allowed EVS Metal to bend the sheet metal components to our exact specifications, it allowed us to create G-code files with MasterCAM to mill our machined components, and it allowed us to create .dxf vector graphics files to laser cut our acrylic components.


3D Models


The following 3D models were generated using our CAD. Note that these models are for visual representation only. Hold left click and move the mouse to rotate the view, hold right click and move the mouse to pan, and scroll with the middle mouse button to zoom.




Our full CAD assembly is available to download in SolidWorks format here.



Our production drawings are available to download in pdf format here.



As we diligently looked to our CAD at every step of the manufacturing process, our robot is a close replica of our CAD, as demonstrated by the comparison images below. Move the slider by clicking and dragging the blue scroll bar with the mouse.






Our CAD was fully dynamic, with appropriate constraints including pin joints, ball and socket joints, and more. This enabled us to simulate the motion of a delta robot for use in kinematic and dynamic analyses.







Iterative Design


Our CAD underwent an iterative design process, with hundreds of modifcations made along the way in order to optimize the strength, rigidity, range of motion, and speed of our delta robot.






Delta Force


Columbia University - Fu Foundation School of Engineering and Applied Science - Department of Mechanical Engineering - Senior Design 2015