Comparative study of CAD optimization features for the workspace of 3DOF Parallel Robot

In today's industrial use, one of the most implemented parallel manipulator is the Delta robot. In this paper we analyze the inscribed workspace of the prismatic actuated 3 DOF Delta parallel robot from a geometric perspective by determining the analytical relationship between the lengths of the arms, the radius between the prismatic axes, the total stroke of the prismatic joints and the volume that describes the whole workspace. Determining the relationship mentioned above, allows us to implement an optimization algorithm to determine the configuration that generates the workspace with the largest volume, representing the largest workspace achievable considering the limits imposed preceding the optimization process.