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Delta Robot

The document summarizes the Delta robot, a parallel robot consisting of multiple kinematic chains connecting a base to an end effector. It uses three motors mounted on an upper platform to control the position of three arms and set the XYZ position and rotation of the end effector. While initially designed for handling small products, larger items can also be accommodated. Its applications include industrial use, surgery, and 3D printing.

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Ignatius Adrian Pamungkas
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65 views9 pages

Delta Robot

The document summarizes the Delta robot, a parallel robot consisting of multiple kinematic chains connecting a base to an end effector. It uses three motors mounted on an upper platform to control the position of three arms and set the XYZ position and rotation of the end effector. While initially designed for handling small products, larger items can also be accommodated. Its applications include industrial use, surgery, and 3D printing.

Uploaded by

Ignatius Adrian Pamungkas
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
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DELTA ROBOT

GROUP 12

By :
Bryan Jonathan
Adrian Pamungkas
Farras Janitra
M. Farhan Tribakti
VIDEO
THE DEFINITION
The Delta robot is a parallel robot that consists of multiple
kinematic chains interconnecting the base with the end-
effector and is often used to handle small products such
as confectionery but larger items can also be
accommodated.
THE DESIGN
The delta robot consists of two platforms: the upper one (1) with
three motors (3) mounted on it, and 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.
KINEMATICS DIAGRAM
DETERMINING DOF

M = 6 ( n – j – 1 ) + ∑fi
M = 6 ( 17 – 21 – 1) + ( 21)( 1 )
M = -30 + 21
M = -9 DOF
An alternative approach to calculating the Delta Robot mobility
is by ignoring the three parallel four-bar mechanisms, replacing
each with a single link instead. In this we must count a universal
joint at either end of this virtual link. This approach follows the
simplified Delta Robot naming convention 3-RUU.

M = 6 ( n – j – 1 ) + ∑fi
M = 6 ( 8 – 9 – 1) + ( 3 )( 1 ) + ( 6 )( 2 )
M = -12 + 3 + 12
M = 3 DOF
APPLICATIONS

Industrial Use Surgery 3D Printing

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