Prismatic Delta Robot: A Lagrangian Approach

This paper shows the kinematic and dynamic model of a prismatic Delta robot designed for a 3D printer. After description of the direct and inverse kinematic algorithms, the forces on the actuated prismatic joints are computed with the lagrangian approach. Examples of actuators forces computed with the lagrangian approach are shown in case of Lissajous type path imposed on the end effector (inverse kinematics) and traveled at constant speed. The results are checked with the energy conservation principle. The effect of inertia forces is evaluated at different printing speeds.