Kinematic Analysis of a Slider-Crank Mechanism for Delta Robot Arm Manipulation: A Computational Approach

The kinematic analysis of the slider crank mechanism (SCM) for the delta robot arm manipulation was conducted computationally in this paper. New kinematic response models of the slider crank mechanism were developed. Trigonometric and inverse trigonometric functions are used in the novel Akozietic mathematical method, which is appropriate for kinematic analysis of intricate mechanisms like the four-bar mechanism (slider crank). The equilibrium conditions of the forces are used in the Akozietic mathematical technique for a four-bar mechanism. in the mechanism to generate non complicated mathematical models that allow for user-written computer programs in Matlab and other programming languages. According to the velocity profile, the mechanism is under the most stress when the crank angle exceeds 300°, and the velocity is lowest at 180° and 0°. The crank angles where the slider shifts direction are the locations where the velocity passes zero. Comparison of spreadsheet and this new mathematical method for mechanism analysis (Akozietic) with standard numerical solutions performed in Mathematica revealed that the novel mathematical procedure created in this work outperformed the two kinematic analysis techniques that were previously in use.