Topological Optimization of Attachment Points of an Industrial Delta Robot Based on the Analysis of Its Safety Zone

The article explores the application of topological optimization in designing a Delta robot frame to maximize its workspace. Efficient utilization of the safety zone is a key challenge in robotics, particularly for parallel mechanisms like the Delta robot. By redistributing material within the frame structure, topological optimization eliminates intersections between mechanism elements within the workspace. This approach expands the available workspace without altering the robot’s external dimensions, thereby enhancing its productivity and versatility. The proposed design method achieves an optimal balance between frame mass and rigidity, resulting in improved robot performance. The effectiveness of the developed approach is validated through simulation modeling.