Implementación del Trazado de Trayectorias Rectas en el Prototipo Funcional del Robot Delta de la Universidad Santo Tomás

Abstract

This thesis presents the redesign, integration, and validation of trajectories for a delta type robot, developed from previous undergraduate projects at Universidad Santo Tomás and based on a partially fabricated pre-existing mechanical structure. The objective was to consolidate a functional platform that would evolve from an incomplete prototype into a system capable of executing basic reference routines and repeatable motion. The arms, end-stop sensor mounts, and parallelogram joints were redesigned; these new components were then assembled onto the available structure, preserving dimensional compatibility. Regarding the control program, the C# application was enhanced to implement a “workpiece zeroing” routine, enabling system referencing and subsequent trajectory execution. Validation was carried out using a laser pointer attached to the end effector, with which the consistency of the trajectories and the response to travel limits were qualitatively verified. As a contribution, a tested and integrated mechanical and software subsystem is delivered, along with a documented foundation for future developments in calibration, control, and performance evaluation.