Using forward and inverse kinematics (as demonstrated in our Design Review II Report), it is possible to determine the resolution and workspace of a delta robot. These parameters depend entirely on four variables: upper arm length, lower arm length, end effector radius, and motor base radius. By varying each of these parameters while holding the others constant, and observing the effects on the resolution and workspace, it is possible to determine an optimum delta robot geometry. The tables shown below demonstrate this procedure.

Our delta robot is driven by a Delta Tau Geo Brick Drive controller that using control structure shown in the control diagram below. Note that at this point, we are only using PID control, but we aim to integrate velocity feed forward, acceleration feed forward, and friction feed forward gains. We are also considering the use of a notch filter and a deadband zone to improve stability, and reduce high frequency oscillations.