Design and Implementation of a Delta Robot Based on FPGA for the Automation of the Collection of Solid Products

Abstract

Thus, a Delta robot maximizes the working speed and the payload that it supports. Thus, in current work, the development and implementation of inverse kinematics in a Delta robot can be observed from different approaches that help to optimize the processing with respect to the equations that govern its motion [4]-[5]. In this way, for the development of the project, as the main design requirements obtained from a task analysis, there is a need for a high speed in the transfer of solid products [6]. Additionally, to guarantee the precision of the mechanism and the parallel calculation of the movement, the embedded NI myRIO system is used, which is a hybrid device from National Instruments, which has a Xilinx Zynq-7010 FPGA and a dual ARM Cortex-A9 processor. Core, designed specifically for the development of complex engineering embedded systems [7].