Delta Parallel Manipulator

Instructor: Prof. Damiano Padovani

Programmed an industrial GTHZ-300B Delta robot for high-speed pick-and-place tasks.

Technical Implementation

• Parallel Kinematics: Studied the 3-DOF parallel mechanism (translation in X/Y/Z only).
• Pneumatics: Set vacuum control at 4 bar for grasping.
• Motion Programming: Used MoveDoor commands for pick-and-place motion.
• I/O Timing: Used SetOutputBeforeEnd to trigger vacuum 0.01 s before reaching the target.
• Teach Mode: Captured positions with LoadPoint.
• Safety: Used AxisHome and SetFixedSpeed (50%) for safe operation.