DELTA ROBOT DESIGN

It consists of two platforms: the upper one (1) with three motors (3) mounted on it, and extra smaller one (8) with an end effector (9). The platforms are connected through three arms with parallelograms, the parallelograms restrain the orientation of the lower platform to be parallel to the working surface (table, conveyor belt and so on). The motors (3) set the position of the arms (4) and, thereby, the XYZ-position of the end effector, while the fourth motor (11) is used for rotation of the end effector -based on application

Delta robot offers several advantages when compared to standard serial robot.

:These advantages include the following

. Inverse kinematics and direct kinematics can be solved easily.

. The position and orientation of the moving platform are uncoupled.

. Very high accelerations are possible due to the light weight of the moving parts.

. The actuators (stepper motors or servo motors) are fixed on the base whereas the traditional serial robot is actuated at each joint along the serial linkage, so that the links of the delta robot do not need to carry the load of actuators as the serial robot does.

. Delta robot construction costs less in comparison to serial robot.

On the other side, delta robot suffers from some disadvantages, which include:

 The working volume of the robot is constrained by its mechanical construction.

 Singularity configurations define the workspace.

. The dynamic model is quite complex in nature