Integrated Conceptual Mechatronic Design of a Delta Robot

In this paper, a conceptual design of Delta robot is developed by means mechatronic methodology. A fully integrated design, clarifying the recurrence process using black-box/white-box analysis, presented Model Based Systems Engineering (MBSE) paradigm and SysML language as formal modeling tool. Multiple designs proposals are then evaluated non-linear Choquet integral in order to choose most appropriate according multicriteria requirement. For preliminary structural parameters for determined defining solving nonlinear constrained optimization problem, which considers kinematic model maximizing its workspace. Both decision making problem automated into common software framework process, standard genetic algorithm Monte Carlo method set optimized be rendered Computer Aided Design (CAD) physical prototype, satisfying technical specifications.