Scribd
Upload
135 views13 pages

Precision Features of Delta Robot

The document summarizes the precision features of a Delta robot. It describes the robot's construction including inner arms made of carbon fiber, outer arms connected via ball joints, and a platform that converts motor motion into Cartesian and rotational movement. It also discusses the robot's advantages such as high acceleration and accuracy, flexible reconfiguration, short cycle times, and applications in electronics, food, and pharmaceutical industries.

Uploaded by

Vp Hari Nandan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
135 views13 pages

Precision Features of Delta Robot

The document summarizes the precision features of a Delta robot. It describes the robot's construction including inner arms made of carbon fiber, outer arms connected via ball joints, and a platform that converts motor motion into Cartesian and rotational movement. It also discusses the robot's advantages such as high acceleration and accuracy, flexible reconfiguration, short cycle times, and applications in electronics, food, and pharmaceutical industries.

Uploaded by

Vp Hari Nandan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 13

Precision features of

Delta robot
Batch members:
Seetharaman.N (12R436)
Padma Hari Nandan.V (12R437)
Krishna.A(12R438)
Vignesh.G.R(12R439)



Introduction
The Delta robot constitutes technological innovation in the robot industry and it was introduced
to the industry for pick and place operations.
The delta robot is a type of a parallel robot built using parallelogram mechanisms and the moving
platform has three translational and on rotational DOFs with respect to the base
Delta robot was designed to serve in the electronic, food and pharmaceutical industries which
required a high level of hygiene and reliable standards for of the products.
The simple reason for this is that the robot offers the following advantages when compared with
standard serial robots:
i. Inverse kinematics and direct kinematics can be solved easily.
ii. The position and orientation of the moving platform are uncoupled.
iii. Very high accelerations are possible due to the light weight of the moving parts.


Features
Each axis only needs to accelerate the faceplate, significantly higher
acceleration rates occur.
This can notably reduce cycle times compared to a serial-link robot.
In addition to high speed performance, a parallel-link robot provides
improved accuracy and repeatability at the tool tip.
The high accuracy of parallel structures makes them good candidates
for measuring machines

Workspace
Delta robots workspace is based on the concept
of maximum inscribed workspace
The Delta parallel structure has three degrees of
mobility, so it can perform three translations.
The workspace for a robotic structure with three mobility degrees of
translation, consists of a volume that the handled object can traverse
without changing its orientation.

Work Volume
Construction
Inner Arms
The four robot motors attach directly
to the inner arms through a high-
performance gear reducer.
Made of precision carbon fiber
assembly
The RIA-compliant hard stops limit
the inner arm motion to -51
and+123.
The inner arm motion is transmitted
to the platform through the outer
arms.
Construction
Outer Arms
It connected between the inner arms and platform
with precision ball-joints.
The outer arms are carbon fiber epoxied assemblies
with identical ball-joint sockets at each end.
A bearing insert at each socket accepts the ball-joint
studs on the inner arms and platform,
It allows for 60 of relative motion.
No ball-joint lubrication is required.
Each pair of outer arms is held together with springs
that pretension the ball joint assemblies.
Platform
The platform converts the motion of the
four Quattro motors into Cartesian
motion and Theta rotation of the robot
tool.
Platform articulation is achieved by
differentially driving the four motors.
Tool rotation is implemented with either
a belt-drive mechanism or with direct-
drive, for applications needing higher
rotation force but less rotation range.
It supports two types of platforms,
depending on the amount of Theta
rotation and inertia needed by the
customer.
Cycle time
The cycle time is defined as an a/b/c pick and place motion with an
elevation of a, an horizontal motion of b and a down motion on a
distance c as defined on the figure below :
Flexibility
Delta Robots can be quickly reconfigured for design and process
modifications.
It has the ability to switch quickly from one product to another with
shortened set times.
Minimized setup times lead in turn to more output and better
throughput.
Improved micro processing power and artificial intelligence
techniques have also dramatically increased the value of delta robot
as flexible automation tools.
Positioning (repeatability)

It expresses the closeness of agreement between the attained poses
after n repeat visits to the same command pose in the same
direction.
Hephasist Seiko proposes various 6 DOF positioning robots with a
travel range of +/- 15 mm and +/- 15 degrees
Delta robot has very high transfer rate and high accuracy allows the
manipulation of fragile objects .
Force capability

The robot force capability strongly depends on the point of
application. Thus, we can define three regions :
(1) Centered in the middle of the workspace ;
(2) Intermediary position;
(3) In the extremity of the workspace.
Industrial Applications

You might also like