Investigating joint dynamic parameter of aluminium-steel composite foam based redundant delta robot with multiple tool end effector

This paper investigates the influence of Aluminium alloy low carbon (Al-LC) steel composite foam in the joint dynamic property of Redundant Delta Parallel Robot (RDPR) by adopting multibody system methodology. The customized composite foam material is used as design material for delta robot components during the Solidworks CAD model development, which is incorporated with Simscape Multibody simulation tool. The dynamic property, torque exerted at robot joints are identified by means of Simscape Multibody simulation of system blocks scheme of delta. The results of Simscape simulation revealed the pertinence of applying Al-LC steel composite foam in designing redundant delta robot based on the dynamic property observations.