This repository refers to the paper titled “An integrated engineering approach for the preliminary design and synthesis of Delta robots”, published in the International Journal on Interactive Design and Manufacturing (https://doi.org/10.1007/s12008-025-02443-y). It contains the RecurDyn and Matlab files used in the study for modeling, analyzing, and optimizing the Delta robot. The files are organized as follows:
RecurDyn Simulation Files
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Parametric_Theoretical_Model.rdyn RecurDyn simulation file of the parametric model of the Delta robot (see Section 2 of the paper).
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FFlex_final.rdyn RecurDyn simulation file of the optimized robot, used for the final validation step (i.e., flexural behavior and backlash analysis, see Section 5).
Matlab Files
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Behavioral_model.m Main script — run this file after specifying the input parameters in the dedicated section.
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DoubleS_gen.m Function for motion profile generation using a double S-curve.
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inv_kin.m Function performing the inverse kinematic calculations, as described in Section 3.1 of the paper.
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dyn.m Function performing the dynamic calculations, as described in Section 3.2 of the paper.
For further details or additional information, please contact the corresponding author, Pietro Bilancia, by email.