Delta Robot

Overview

A Delta Robot is a type of parallel robot that consists of three arms connected to universal joints at the base. The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector. By contrast to Stewart platform-based parallel manipulators, which can manipulate an object in six degrees of freedom, a Delta robot can only manipulate an object in three degrees of freedom: translation along three axes (X, Y, and Z).

History

The Delta robot was invented in the early 1980s by a team of researchers led by Professor Reymond Clavel at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The goal was to create a robot with high speed and high precision for use in pick and place operations in the assembly industry.

Design and Structure

The design of a Delta robot is unique and innovative. It consists of a fixed base, usually in a triangular shape, and three pairs of arms. Each pair of arms is connected to the base with a universal joint. The other ends of the arms are connected to a smaller, movable platform. The arms are designed in such a way that they form parallelograms, which allows the platform to maintain its orientation in all positions.

The end effector, or tool, is attached to the movable platform. The end effector can be anything from a simple gripper to a more complex tool, depending on the application of the robot.

Kinematics

The kinematics of a Delta robot is a complex topic that involves the study of the motion of the robot's arms and end effector. The robot's motion is controlled by the length of its arms and the angles of its joints. The kinematics equations for a Delta robot are derived from the geometry of the robot and are used to calculate the position and orientation of the end effector based on the lengths of the arms and the angles of the joints.

Applications

Delta robots are widely used in many industries for tasks that require high speed and precision. Some of the most common applications include:

Pick and place operations: Delta robots are commonly used in assembly lines to pick up parts from one location and place them in another. They are particularly useful in situations where high speed and precision are required.

Packaging: Delta robots are often used in packaging operations, where they can quickly and accurately place items into packages.

Food industry: In the food industry, Delta robots are used for tasks such as sorting, packaging, and even decorating cakes.

Pharmaceutical industry: In the pharmaceutical industry, Delta robots are used for tasks such as pill sorting and packaging.

Advantages and Disadvantages

Like all robots, Delta robots have both advantages and disadvantages. Some of the advantages include:

High speed: Due to their unique design, Delta robots can move very quickly, making them ideal for tasks that require high speed.

High precision: Delta robots are also very precise, which makes them suitable for tasks that require a high level of accuracy.

Compact size: Delta robots are relatively small compared to other types of robots, which makes them suitable for use in environments where space is limited.

However, Delta robots also have some disadvantages:

Limited payload: Due to their design, Delta robots can only handle relatively small payloads.

Limited reach: Delta robots also have a relatively limited reach compared to other types of robots.

Complex kinematics: The kinematics of a Delta robot is complex, which can make the robot difficult to program and control.