this is detail robot moving:

$\%$ Main script for Delta Robot Kinematics and Visualization with Animation

close all;

clc;

clear;

$\%$ Delta robot constants

R $=116$; $\%$ Radius of the fixed base

r $=50$; $\%$ Radius of the moving platform

L$1=100$; $\%$ Length of the upper arm

L$2=150$; $\%$ Length of the lower arm

$\%$ Parameters

numPoints $=100$; $\%$ Number of points to define the circles

zOffset $=-150$; $\%$ Distance between the two circles along the Z$-$axis

$\%$ Define first circle points in the XY plane

theta $=$ linspace$(0,2*$ pi$,$ numPoints$)$; $\%$ Angle for the circle

x$1=$ R $*$ cos$($theta$)$; $\%$ X$-$axis points for the first circle

y$1=$ R $*$ sin$($theta$)$; $\%$ Y$-$axis points for the first circle

z$1=$ zeros$(1,$ numPoints$)$; $\%$ Z$-$axis points for the first circle

$\%$ Define second circle points in the XY plane

x$2=$ r $*$ cos$($theta$)$; $\%$ X$-$axis points for the second circle

y$2=$ r $*$ sin$($theta$)$; $\%$ Y$-$axis points for the second circle

z$2=$ zOffset $*$ ones$(1,$ numPoints$)$; $\%$ Z$-$axis points for the second circle

$\%$ Setup input joint angles for animation

x$\_$vals $=$ linspace$(-50,50,50)$; $\%$ Change in X

y$\_$vals $=$ linspace$(-50,50,50)$; $\%$ Change in Y

z$\_$vals $=$ linspace$(-200,-100,50)$; $\%$ Change in Z

$\%$ Infinite loop for continuous motion

while true

$\%$ Move up and down

for z $=$ z$\_$vals

move$\_$robot$(0,0,$ z$,$ R$,$ L$1,$ L$2,$ r$)$;

end

for z $=$ flip$($z$\_$vals$)$

move$\_$robot$(0,0,$ z$,$ R$,$ L$1,$ L$2,$ r$)$;

end

$\%$ Move right and left

for x $=$ x$\_$vals

move$\_$robot$($x$,0,$ z$\_$vals$(1),$ R$,$ L$1,$ L$2,$ r$)$;

end

for x $=$ flip$($x$\_$vals$)$

move$\_$robot$($x$,0,$ z$\_$vals$(1),$ R$,$ L$1,$ L$2,$ r$)$;

end

$\%$ Move forward and backward

for y $=$ y$\_$vals

move$\_$robot$(0,$ y$,$ z$\_$vals$(1),$ R$,$ L$1,$ L$2,$ r$)$;

end

for y $=$ flip$($y$\_$vals$)$

move$\_$robot$(0,$ y$,$ z$\_$vals$(1),$ R$,$ L$1,$ L$2,$ r$)$;

end

$\%$ Move in circular path in XY plane

for i $=1$:length$($theta$)$

move$\_$robot$(25*$ cos$($theta$($i$)),25*$ sin$($theta$($i$)),$ z$\_$vals$(1),$ R$,$ L$1,$ L$2,$ r$)$;

end

end

function move$\_$robot$($X$,$ Y$,$ Z$,$ R$,$ L$1,$ L$2,$ r$)$

$\%$ Define points A$1,$ A$2,$ A$3$ at $0,120,$ and $240$ degrees on the fixed base

A$1=[$R $*$ cos$(0),$ R $*$ sin$(0),0]$;

A$2=[$R $*$ cos$(2*$ pi $/3),$ R $*$ sin$(2*$ pi $/3),0]$;

A$3=[$R $*$ cos$(4*$ pi $/3),$ R $*$ sin$(4*$ pi $/3),0]$;

A $=[$A$1$; A$2$; A$3]$;

$\%$ Prepare figure for animation

figure$(1)$;

clf;

hold on;

grid on;

axis equal;

xlim$([-300300])$;

ylim$([-300300])$;

zlim$([-300300])$;

xlabel$(\text{'}$X $($mm$)\text{'})$;

ylabel$(\text{'}$Y $($mm$)\text{'})$;

zlabel$(\text{'}$Z $($mm$)\text{'})$;

title$(\text{'}3$D Representation of the Mechanism'$)$;

view$(3)$;

$\%$ Define first circle points in the XY plane

theta $=$ linspace$(0,2*$ pi$,100)$; $\%$ Angle for the circle

x$1=$ R $*$ cos$($theta$)$; $\%$ X$-$axis points for the first circle

y$1=$ R $*$ sin$($theta$)$; $\%$ Y$-$axis points for the first circle

z$1=$ zeros$(1,100)$; $\%$ Z$-$axis points for the first circle

$\%$ Define second circle points in the XY plane

x$2=$ r $*$ cos$($theta$)$; $\%$ X$-$axis points for the second circle

y$2=$ r $*$ sin$($theta$)$; $\%$ Y$-$axis points for the second circle

z$2=-150*$ ones$(1,100)$; $\%$ Z$-$axis points for the second circle

$\%$ Plot the first circle in $3$D

plot$3($x$1,$ y$1,$ z$1,$ 'LineWidth', $2)$;

$\%$ Plot the second circle in $3$D

plot$3($x$2,$ y$2,$ z$2,$ 'LineWidth', $2)$;

$\%$ Plot the center of the circles

plot$3(0,0,0,\text{'}$o$\text{'},$ 'MarkerSize', $10)$;

plot$3(0,0,-150,\text{'}$o$\text{'},$ 'MarkerSize', $10)$;

try

$\%$ Calculate joint angles using inverse kinematics

$[$th$1,$ th$2,$ th$3,$ fl$]=$ FKinem$($X$,$ Y$,$ Z$)$;

if fl $==0$

$\%$ Calculate the positions of the joints and plot the arms

th $=[$th$1,$ th$2,$ th$3]$;

for j $=1$:$3$

C $=[$X$,$ Y$,$ Z$]$;

B $=$ A$($j$,$ :) $+[$L$1*$ cos$($pi $-$ th$($j$)),$ L$1*$ sin$($pi $-$ th$($j$)),0]$;

$\%$ Plot arms

plot$3([$A$($j$,1)$ B$(1)],[$A$($j$,2)$ B$(2)],[$A$($j$,3)$ B$(3)],$ 'LineWidth', $2)$;

plot$3([$B$(1)$ C$(1)],[$B$(2)$ C$(2)],[$B$(3)$ C$(3)],$ 'LineWidth', $2)$;

$\%$ Plot joints

plot$3($A$($j$,1),$ A$($j$,2),$ A$($j$,3),\text{'}$o$\text{'},$ 'MarkerSize', $5)$;

plot$3($B$(1),$ B$(2),$ B$(3),\text{'}$o$\text{'},$ 'MarkerSize', $5)$;

plot$3($C$(1),$ C$(2),$ C$(3),\text{'}$o$\text{'},$ 'MarkerSize', $5)$;

end

$\%$ Plot the end effector at point P

plot$3($X$,$ Y$,$ Z$,\text{'}$ro$\text{'},$ 'MarkerSize', $10,$ 'MarkerFaceColor', $\text{'}$r$\text{'})$;

end

catch ME

$\%$ Display the error message for debugging purposes

disp$([\text{'}$No valid solution found for position: X$=\text{'},$ num$2$str$($X$),...$

$\text{'},$ Y$=\text{'},$ num$2$str$($Y$),\text{'},$ Z$=\text{'},$ num$2$str$($Z$)])$;

disp$($ME$.$message$)$;

end

pause$(0\mathrm{.}05)$; $\%$ Adjust the pause to control the speed of the animation

end

this is IKinem.m:

function $[$theta$1,$ theta$2,$ theta$3,$ fl$]=$ IKinem$($X$,$ Y$,$ Z$)$

x$0=$ X;

y$0=$ Y;

z$0=$ Z;

theta$1=$ IKinemTh$($x$0,$y$0,$z$0)$;