Ch.

4 Delta robot stress analysis & manufacturing

4.1 Forces values

Forces values has been obtained from the force analysis for the
robot which have been illustrated in chapter 3 now we need to
make a stress analysis according to these forces, the forces
values are shown in Fig.(4.1)

Fig.(4.1)

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Ch.4 Delta robot stress analysis & manufacturing

4.2 Crank stress analysis

We have used Auto desk inventor to perform stress analysis to
each part of the robot

4.2.1 Material properties

Name (Acrylic)
General Mass Density 1.13 g/cm^3
Yield Strength 82.75 MPa
Ultimate Tensile Strength 82.68 MPa
Stress Young's Modulus 2.93 GPa
Poisson's Ratio 0.35 ul
Shear Modulus 1.08519 GPa
Stress Thermal Expansion Coefficient 0.0000558 ul/c
Thermal Conductivity 0.24 W/( m K )
Specific Heat 1339.84 J/( kg c )
Part Name(s) crank

4.2.2 Result

Name Minimum Maximum

Von Mises Stress 0.00673336 MPa 8.33971 MPa
1st Principal Stress -1.21223 MPa 5.35588 MPa
3rd Principal Stress -7.87225 MPa 0.7531 MPa
Displacement 0 mm 0.579626 mm
Safety Factor 9.9224 ul 15 ul

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Ch.4 Delta robot stress analysis & manufacturing

The safety factor results is shown in Fig.(4.2)

Fig.(4.2)

The complete stress analysis done by Autodesk inventor is

found at Appendix-C

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Ch.4 Delta robot stress analysis & manufacturing

4.3 Long arm stress analysis

The long arm is one of the rods forming the parallelogram of the
delta robot. We made its stress analysis using Auto desk
inventor.

4.3.1 Aluminum rod properties

Name Aluminum-6061
General Mass Density 2.71 g/cm^3
Yield Strength 275 MPa
Ultimate Tensile Strength 310 MPa
Stress Young's Modulus 68.9 GPa
Poisson's Ratio 0.33 ul
Shear Modulus 25.9023 GPa
Stress Thermal Expansion Coefficient 0.0000236 ul/c
Thermal Conductivity 167 W/( m K )
Specific Heat 1256.1 J/( kg c )
Part Name(s) long.arm

4.3.2 Mild steel properties

Name Steel, Mild
General Mass Density 7.86 g/cm^3
Yield Strength 207 MPa
Ultimate Tensile Strength 345 MPa
Stress Young's Modulus 220 GPa
Poisson's Ratio 0.275 ul
Shear Modulus 86.2745 GPa
Stress Thermal Expansion Coefficient 0.000012 ul/c
Thermal Conductivity 56 W/( m K )
Specific Heat 460 J/( kg c )
Part Name(s) Bolt GB/T 29.1-1988 M3x6
Bolt GB/T 29.1-1988 M3x6

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Ch.4 Delta robot stress analysis & manufacturing

4.3.3 Nylon 6-6 properties

Name Nylon 6-6

General Mass 1.38
Density g/cm^3
Yield 51.71
Strength MPa
Ultimate 51 MPa
Tensile
Strength
Stress Young's 6.89 GPa
Modulus
Poisson's 0 ul
Ratio
Shear 3.445 GPa
Modulus
Stress Expansion 0.0000275
Thermal Coefficient ul/c
Thermal 0.17 W/(
Conductivity mK)
Specific 0 J/( kg c
Heat )
Part Nilon 6-6
Name(s) bush

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Ch.4 Delta robot stress analysis & manufacturing

4.3.4 Results
Name Minimum Maximum
Von Mises Stress 0 MPa 1.52709 MPa
1st Principal Stress -0.108613 MPa 1.37784 MPa
3rd Principal Stress -1.22055 MPa 0.0749784 MPa
Safety Factor 15 ul 15 ul
1st Principal Strain -0.0000157638 ul 0.000199976 ul
3rd Principal Strain -0.000177147 ul 0.0000108822 ul

Safety factor result Fig.(4.3)

Fig.(4.3)

The complete stress analysis done by Autodesk inventor is

found at Appendix-D

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Ch.4 Delta robot stress analysis & manufacturing

4.4 Lower plate stress analysis

Stress analysis have been done by Autodesk inventor
4.4.1 Material properties

Name (Acrylic)
General Mass Density 1.13 g/cm^3
Yield Strength 82.75 MPa
Ultimate Tensile Strength 82.68 MPa
Stress Young's Modulus 2.93 GPa
Poisson's Ratio 0.35 ul
Shear Modulus 1.08519 GPa
Stress Thermal Expansion Coefficient 0.0000558 ul/c
Thermal Conductivity 0.24 W/( m K )
Specific Heat 1339.84 J/( kg c )
Part Name(s) crank

4.4.2 Results
Name Minimum Maximum
Von Mises Stress 0.000734526 MPa 0.0230326 MPa
1st Principal Stress -0.00146972 MPa 0.0232014 MPa
3rd Principal Stress -0.0122437 MPa 0.00445871 MPa

Safety Factor 15 ul 15 ul

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Ch.4 Delta robot stress analysis & manufacturing

Safety factor results shown Fig.(4.4)

Fig.(4.4)

The complete stress analysis done by Autodesk inventor is

found at Appendix-E

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Ch.4 Delta robot stress analysis & manufacturing

4.5 Delta robot manufacturing

In order to build a delta robot we need to use many parts and we
will going to show each part of them and its assembly to gather
forming delta robot.

4.5.1 Crank
Part (1) crank Fig.(4.5) & Fig.(4.6)
material used acrylic
Number of parts used 3

Fig.(4.5)

Fig.(4.6)

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Ch.4 Delta robot stress analysis & manufacturing

4.5.2 Aluminum rod

Part (2) Aluminum rod Fig.(4.7) &
Fig.(4.8) material used aluminum
Number of parts used 6

Fig.(4.7)

Fig.(4.8)

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Ch.4 Delta robot stress analysis & manufacturing

4.5.3 Parallel gram bush

Part (3) parallel gram bush Fig.(4.9) & Fig.(4.10)
material used (nilon6/6) Number of parts used 12

Fig.(4.9)

Fig.(4.10)

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Ch.4 Delta robot stress analysis & manufacturing

4.5.4 Set screw

Part (4) set screw M3x1.2 length
8mm Fig.(4.11) material used steel
Number of parts used 12

Fig.(4.11)
4.5.5 Bush
Part (5) collar Fig.(4.12) & Fig.(4.13) material
used copper
Number of parts used 24

Fig.(4.12)

Fig.(4.13)
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Ch.4 Delta robot stress analysis & manufacturing

4.5.6 Bearing
Part (6) bearing M6 x 1.2 Fig.(4.14) material
used steel
Number of parts used 12

4.5.7 Nut Fig.(4.14)

Part (7) nut M5 x1.2 Fig.(4.15) material used

steel
Number of parts used 42

Fig.(4.15)

4.5.8 Flat head machine screw

Part (8) flat head machine screw Fig.(4.16) material used steel
Number of parts used 6

Fig.(4.16)

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Ch.4 Delta robot stress analysis & manufacturing

4.5.9 Lower plate

Part (9) lower plate Fig.(4.17) Fig.(4.18)
material used acrylic
Number of parts used 1

Fig.(4.17)

Fig.(4.18)

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Ch.4 Delta robot stress analysis & manufacturing

4.5.10 Upper plate

Part (10) upper plate Fig.(4.19) &
Fig.(4.20) material used acrylic
Number of parts used 1

Fig.(4.19)

Fig.(4.20)

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Ch.4 Delta robot stress analysis & manufacturing

4.5.11 Motor seat

Part (11) upper plate Fig.(4.21) material used
acrylic
Number of parts used 1

Fig.(4.21)
4.5.12 Motor
Part (12) motor Fig.(4.22)
Number of parts used 3

Fig.(4.22)

4.5.13 Bolt
Part (13) fixation bolt used to fix the motor to the seat and fix
the seat to the upper plate material used steel. Number of parts
used 2 Fig.(4.23)

Fig.(4.23)
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Ch.4 Delta robot stress analysis & manufacturing

4.5.14 Nut
Part (14) Nut for fixation bolt Fig.(4.24) material used steal.
Number of parts used 2

Fig.(4.24)

4.5.15 Aluminum frame

Part (15) aluminum frame used to support the fixed plate to the
ground Fig.(4.25)

Fig.(4.25)
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Ch.4 Delta robot stress analysis & manufacturing

4.6 Delta robot parts assembly

After we have shown all parts used in order to build a delta
robot we are going to show how this parts could be assemble
together forming delta robot.

4.6.1 Parallelogram & crank assembly

We are going to show how we connect the parallel gram with
crank Fig.(4.26)

Fig.(4.26)

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Ch.4 Delta robot stress analysis & manufacturing

4.6.2 Lower plate & parallelogram

assembly
We are going to show how we connect the parallel gram with
lower plate Fig.(4.27)

Fig.(4.27)

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Ch.4 Delta robot stress analysis & manufacturing

4.6.3 Motor fixation

We are going to show how we fixed the motor with its seat to
the upper plate Fig.(4.28)

4.7 Delta robot assembly

Here is a picture shows the whole robot being assembled
Fig.(4.28)

Fig.(4.28) 60