Mechatronic Development of a Delta Robot Applied to MPS 500

This document is a description of the design and implementation of a delta robot model with position control. The mechanical design of the prototype is based on the requirements of the workspace, with a structural analysis that guarantees the coverage of the required area and the strength of the materials used.From the inverse kinematic analysis, a joint position control system is proposed based on a proportional, integral and derivative (PID) controller, designed to adapt to the programmed conditions of the mechanism. This control system is implemented in a programming interface developed in Python®.After the implementation phase, tests are carried out to evaluate the effectiveness and performance of the robot. These tests are based on error indicators, using the Mean Absolute Error (MAE) as the main indicator to quantify the difference between the desired positions and the positions reached by the robot.