Modeling and analysis of an RUU Delta Robot using SolidWorks and SimMechanics

This paper illustrates the methodology for modeling, implementing, and controlling an RUU Delta Robot using computer-aided design and simulation software. Specifically, SolidWorks is employed to construct a CAD model with suitable properties, which is then exported to the MATLAB/SimMechanics environment for generating a multibody system block diagram. A PID controller is implemented to control the robot's position and trajectory movement. The study analyzes moment signal graphs at active joints, comparing them with existing research to validate the accuracy of the results. The investigation reveals that the influence of damping coefficients on the robotic dynamics is negligible, with simulation errors less than 0.02% for different end effect masses. Additionally, the study explores the impact of end effect mass on robotic dynamics and trajectory. Simulation results recommend an optimal operating range with an end effect mass of less than 3 kg, ensuring trajectory errors remain below 2%. As the end effect mass increases, a corresponding fluctuation in the robot's trajectory is observed, leading to longer times to reach the designed trajectory. This study provides valuable insights for practical applications, indicating that the proposed simulation approach is instrumental in assessing the performance of the robot controller before its deployment in an actual prototype.