Sasan Hashemzadeh Bashari - Department of Mechanic, University Collage of Nabi Akram, Tabriz, Iran
Milad Khorasani - Department of Mechatronic, Science and Research Branch, Islamic Azad University, Qazvin, Iran
Adeleh Karimzadeh Abdoljabbar - Department of Electronic, Science and Research Branch, Islamic Azad University, Tabriz, Iran

Robots play a significant role in the global industry. Among these robots, parallel robots due to their type of structure and high velocity and accuracy in pick and placing industries are very efficient. Recently delta type parallel robots are seen in additive manufacturing like delta 3d printers. Among the type of delta robots, linear joint type of delta robot is more common than revolute joint type. This article discussed the important kinematical equations, Inverse and Forward kinematics, that obtains for delta 3d printer. Then according to obtained equation, the workspace of delta 3d printer simulated and has been shown in MATLAB. Then according to two cylindrical and cubical case studies, that modeled in CATIA and sliced with the Repetier-Host softwares, and obtained inverse and forward kinematical equations, the each wagons displacement diagrams, from inverse kinematic,and shapes that obtained from displacements of these wagons, from forward kinematic,have been simulated and shown in MATLAB.

linear Delta Robot, Kinematic, 3D Printing, Simulation