Korsoveczki, GyulaBinth Ali Nasheed, Yooha2026-05-292026-05-292026-05-04https://hdl.handle.net/2437/407499This 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.62endelta parallel robotlinear deltaforward kinematicsinverse kinematicssphere intersectiondigital twinOnshapeparallel manipulatorpick-and-placeMATLABEngineering SciencesHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.