An Optimal Geometric Model for Clavels Delta Robot

This paper discusses the Clavel’s Delta parallel robot and proposes an alternate solution to its kinemat- ics/dynamic model. We meant to integrate these models into on a small electrical driving circuit that integrates an onboard mi- crocontroller. We designed the solution by taking into account the reduced computing capability of small embedded systems. Direct kinematics (DK), differential kinematics, both direct (J) and inverse (invJ), and a simplified dynamic model will also be presented. The novelty of the approach relies in a series of geometric properties that allow to reduce the computational load. When the three kinematics are computed together (DK, J, invJ), their computations can be expressed in few lines of code. The accuracy of motion, as well as the reduced computing power, will be compared to classic algorithms . The proposed algorithms have been implemented in a working system in the context of a telemedicine project.