Kinematic and Static Force Analysis of the ABB IRB 360 Delta Parallel Robot

Abstract

Parallel Delta robots are widely used in high-speed industrial automation, particularly in food-processing operations that require short cycle times and precise manipulation. Their performance under complex loading conditions, however, remains critical for reliable integration into mechatronic production systems. In many technological processes, the end effector experiences not only gravitational forces but also additional loads caused by product contact, lateral disturbances, and dynamic gripping actions. These conditions influence actuator torque demand, structural behaviour, and workspace feasibility. To address this, the present study develops a complete kinematic formulation and a force analysis model for the ABB IRB 360 3/1130 FlexPicker® Delta robot sourced from ABB Robotics, Västerås, Sweden. The models enable computer-based simulation of the robot’s behaviour under both vertical and horizontally oriented external forces. The results show how combined loading affects torque distribution and may restrict feasible workspace regions. These findings support motion planning, task feasibility assessment, and the reliable integration of high-speed parallel manipulators in industrial mechatronic environments.