Linear Delta robot

This project presents a high-fidelity dynamic simulation of a 3-DOF Linear Delta Robot developed using MATLAB and Simulink

## 3-DOF Linear Delta Robot Dynamic Simulation

This project features a high-fidelity dynamic simulation of a 3-DOF Linear Delta Robot built using MATLAB and Simscape Multibody. The simulation translates high-speed joint-space paths into precise Cartesian coordinates (X, Y, Z), featuring dynamic calculation of the required simulation stop time.

### Features

* **CAD-Based Mechanical Plant:** Modeled using structural STEP files (traveling plate, parallel rods, linkages, and linear bearings).

* **Multi-Profile Trajectory Generator:** State-machine path creation supporting Cylindrical Helix, Spiral, Pure Circular, and Isosceles Triangle paths.

* **Continuous Velocity Calculations:** Real-time state outputs computing instantaneous velocities ($vx, vy, vz, v\_abs$).

* **Closed-Loop PID Control:** Actuators modeled as second-order systems ($\omega_n = 700 \text{ rad/s}$) to analyze tracking performance and bandwidth constraints.

* **Auto-Refactoring Paths:** Includes a startup initialization script that dynamically sets CAD file links to relative paths via `fullfile(pwd, ...)`, rendering the project completely portable.

### How to Run

1. Unzip `upload.zip` into your active MATLAB directory.

2. Run the main script file: `Linear_Delta_Robot.m`.

3. Follow the UI prompt dialogue to select your preferred trajectory type and average velocity.

4. The script will automatically load the background model, dynamically compute the optimal runtime duration, and begin the 3D animation loop.