Design and kinematic analysis of a 4DoF delta-parallel mechanism using Onshape and MATLAB environment

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dc.contributor.advisorKorsoveczki, Gyula
dc.contributor.authorBinth Ali Nasheed, Yooha
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2026-05-29T11:09:12Z
dc.date.available2026-05-29T11:09:12Z
dc.date.created2026-05-04
dc.description.abstractThis thesis presents the design and Kinematic Analysis of a 4 DoF delta-parallel mechanism using Onshape and MATLAB environment. The purpose of the project was to design a linearly actuated 4 degrees of freedom delta parallel robot and to derive, implement and verify the kinematics of the robot. The intended purpose of the proposed 4 DoF delta robot is Pharmaceutical and laboratory applications. Including tasks such as working in controlled or hazardous environments with tasks such as pick and place, filling, capping and laboratory instrumentation where precision and accuracy are required. The thesis topic addresses the growing industrial demand for parallel robotic systems by providing a fully verified kinematic model and verification and visualization of the results. To create the robot first, the scope of application needed to be determined in order to finalize the size and dimensions of the robot. After this was realized the 2D Skelton was made and in accordance with the 2D skeleton diagram the 3D design was done on Onshape. After this the geometrical relationships between the parameters of the robot were realized, the Grübler–Kutzbach mobility formula was applied to confirm that the mechanism possesses exactly four degrees of freedom. To calculate the inverse and forward kinematics, mathematical calculations were derived and these calculations were transferred to MATLAB for computational verification along with visualization. A digital twin dashboard was developed integrating the verified solvers with a live three-dimensional skeleton rendering to provide interactive kinematic verification and visual documentation of the robot.
dc.description.courseMechatronical Engineeringen
dc.description.degreeBSc/BA
dc.format.extent62
dc.identifier.urihttps://hdl.handle.net/2437/407499
dc.language.isoen
dc.rights.infoHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subjectdelta parallel robot
dc.subjectlinear delta
dc.subjectforward kinematics
dc.subjectinverse kinematics
dc.subjectsphere intersection
dc.subjectdigital twin
dc.subjectOnshape
dc.subjectparallel manipulator
dc.subjectpick-and-place
dc.subjectMATLAB
dc.subject.dspaceEngineering Sciences
dc.titleDesign and kinematic analysis of a 4DoF delta-parallel mechanism using Onshape and MATLAB environment
dc.title.translatedEgy 4DoF-os delta-párhuzamos mechanizmus tervezése és kinematikai elemzése az Onshape és a MATLAB környezetben
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This thesis presents the design and Kinematic Analysis of a 4 DoF delta-parallel mechanism using Onshape and MATLAB environment. The intended purpose of the proposed 4 DoF delta robot is Pharmaceutical and laboratory applications. Including tasks such as working in controlled or hazardous environments with tasks such as pick and place, filling, capping and laboratory instrumentation where precision and accuracy are required. To create the robot first, the scope of application needed to be determined in order to finalize the size and dimensions of the robot. After this was realized the 2D Skelton was made and in accordance with the 2D skeleton diagram the 3D design was done on Onshape. After this the geometrical relationships between the parameters of the robot were realized, the Grübler–Kutzbach mobility formula was applied to confirm that the mechanism possesses exactly four degrees of freedom. To calculate the inverse and forward kinematics, mathematical calculations were derived and these calculations were transferred to MATLAB for computational verification along with visualization.
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Theses (Department of Electrical Engineering and Mechatronics)