Delta robot

File:TOSY Parallel Robot.JPG ]]

The delta robot (a parallel arm robot) was invented in the early 1980s by a research team led by professor Reymond Clavel at the École Polytechnique Fédérale de Lausanne (EPFL, Switzerland).{{cite patent|country=US|number=4976582|pubdate=1990-12-11|title=Device for the movement and positioning of an element in space|assign1=Sogeva SA|inventor1-last=Clavel|inventor1-first=Reymond}} After a visit to a chocolate maker, a team member wanted to develop a robot to place pralines in their packages.{{cite news |url= http://sti.epfl.ch/page-76362-en.html |title= Reymond Clavel, creator of the Delta Robot reflects on his career |author= Laure-Anne Pessina |date= 7 March 2012 |publisher= EPFL |access-date= 19 January 2018 |archive-date= 27 October 2018 |archive-url= https://web.archive.org/web/20181027103218/http://sti.epfl.ch/page-76362-en.html |url-status= dead }} The purpose of this new type of robot was to manipulate light and small objects at a very high speed, an industrial need at that time.

In 1987, the Swiss company Demaurex purchased a license for the delta robot and started the production of delta robots for the packaging industry. In 1991, Reymond Clavel presented his doctoral thesis 'Conception d'un robot parallèle rapide à 4 degrés de liberté',Clavel, R. (1991) [http://library.epfl.ch/theses/?nr=925 Conception d'un robot parallèle rapide à 4 degrés de liberté]. PhD Thesis, EPFL, Lausanne, Switzerland and received the golden robot award in 1999 for his work and development of the delta robot. Also in 1999, ABB Flexible Automation started selling its delta robot, the FlexPicker. By the end of 1999, delta robots were also sold by Sigpack Systems.

In 2017, researchers from Harvard's Microrobotics Lab miniaturized it with piezoelectric actuators to 0.43 grams for 15 mm x 15 mm x 20 mm, capable of moving a 1.3 g payload around a 7 cubic millimeter workspace with a 5 micrometers precision, reaching 0.45 m/s speeds with 215 m/s² accelerations and repeating patterns at 75 Hz.{{cite news |url= https://spectrum.ieee.org/harvard-millidelta-robot-is-tiny-and-scary-fast |title= Harvard's milliDelta Robot Is Tiny and Scary Fast |author= Evan Ackerman |date= 17 January 2018 |work= IEEE Spectrum}}

File:DeltaRamki.gif

The delta robot is a parallel robot, i.e. it consists of multiple kinematic chains connecting the base with the end-effector. The robot can also be seen as a spatial generalisation of a four-bar linkage.Merlet, J.-P., Parallel Robots, Kluwer Academic Publishers, 2000.

The key concept of the delta robot is the use of parallelograms which restrict the movement of the end platform to pure translation, i.e. only movement in the X, Y or Z direction with no rotation.

The robot's base is mounted above the workspace and all the actuators are located on it. From the base, three middle jointed arms extend. The ends of these arms are connected to a small triangular platform. Actuation of the input links will move the triangular platform along the X, Y or Z direction. Actuation can be done with linear or rotational actuators, with or without reductions (direct drive).

Since the actuators are all located in the base, the arms can be made of a light composite material. As a result of this, the moving parts of the delta robot have a small inertia. This allows for very high speed and high accelerations. Having all the arms connected together to the end-effector increases the robot stiffness, but reduces its working volume.

The version developed by Reymond Clavel has four degrees of freedom: three translations and one rotation. In this case a fourth leg extends from the base to the middle of the triangular platform giving to the end effector a fourth, rotational degree of freedom around the vertical axis.

Currently other versions of the delta robot have been developed:

• Delta with 6 degrees of freedom: developed by the Fanuc company, in this robot a serial kinematic with 3 rotational degrees of freedom is placed on the end effector
• Delta with 4 degrees of freedom: developed by the Adept company, this robot has 4 parallelogram directly connected to the end-platform instead of having a fourth leg coming in the middle of the end-effector
• Pocketdelta: developed by the Swiss company Asyril SA, a 3-axis version of the delta robot adapted for flexible part feeding systems and other high-speed, high-precision applications.
• Delta direct drive: a 3 degrees of freedom delta robot having the motor directly connected to the arms. Accelerations can be very high, from 30Miller, K., "Modeling of Dynamics and Model-Based Control of DELTA Direct-Drive Parallel Robot," Journal of Robotics and Mechatronics, Vol. 17, No. 4, pp. 344-352, 1995. up to 100 g.
• Delta cube: developed by the EPFL university laboratory LSRO, a delta robot built in a monolithic design, having flexure-hinges joints. This robot is adapted for ultra-high-precision applications.
• Several "linear delta" arrangements have been developed where the motors drive linear actuators rather than rotating an arm. Such linear delta arrangements can have much larger working volumes than rotational delta arrangements.

[http://issuu.com/epfl/docs/reymond_clavel_eng "Gallery of robots - prof. Reymond Clavel"]

Reymond CLAVEL.

[http://jnrr2011.irccyn.ec-nantes.fr/presentations/ReymondClavel.pdf "Robots parallèles"] {{Webarchive|url=https://web.archive.org/web/20180920162258/http://jnrr2011.irccyn.ec-nantes.fr/presentations/ReymondClavel.pdf |date=20 September 2018 }}

The majority of delta robots use rotary actuators. Vertical linear actuators have recently been used (using a linear delta design) to produce a novel design of 3D printer.{{Cite web

|title=Rostock (delta robot 3D printer)

|url=http://www.thingiverse.com/thing:17175

|publisher=Thingiverse

|author=Johann Rocholl

|date=6 February 2012

}}{{Cite web

|title=3D printing with a delta robot that seems to simplify the concept

|url=http://hackaday.com/2012/07/13/3d-printing-with-a-delta-robot-that-seems-to-simplify-the-concept/

|date=13 July 2012

|author=Mike Szczys

}} These offer advantages over conventional leadscrew-based 3D printers of quicker access to a larger build volume for a comparable investment in hardware.

File:Large delta-style 3D printer.jpgIndustries that take advantage of the high speed of delta robots are the food, pharmaceutical and electronics industry.{{Cite web |title=Delta Parallel Robot - the Story of Success |url=https://www.parallemic.org/Reviews/Review002.html |access-date=2023-12-30 |website=www.parallemic.org}}{{Cite web |date=2022-08-01 |title=New Delta Robots Handle Primary Food Packaging |url=https://www.packworld.com/machinery/robotics/article/22340348/new-delta-robots-handle-primary-food-packaging |access-date=2023-12-30 |website=Packaging World |language=en-us}} For its stiffness it is also used for surgery, in particular, the Surgiscope is a delta robot used as a microscopic holder system.{{Cite book |title=Effective geometrical calibration of a delta parallel robot used in neurosurgery |url=https://ieeexplore.ieee.org/document/1545081 |access-date=2023-12-30 |doi=10.1109/iros.2005.1545081 |date=2005 |last1=Deblaise |first1=D. |last2=Maurine |first2=P. |pages=1313–1318 |isbn=0-7803-8912-3 |s2cid=17649458 }}

The structure of a delta robot can also be used to create haptic controllers.{{cite web

|title=Feeling virtual worlds

|url=http://sunnybains.typepad.com/blog/2007/08/feeling-virtual.html

|author= Sunny Bains

|date=8 August 2007

}} More recently, the technology has been adapted to 3D printers.{{Cite journal |last1=Carabin |first1=G. |last2=Scalera |first2=L. |last3=Wongratanaphisan |first3=T. |last4=Vidoni |first4=R. |date=2021 |title=An energy-efficient approach for 3D printing with a Linear Delta Robot equipped with optimal springs |url=https://linkinghub.elsevier.com/retrieve/pii/S0736584520302568 |journal=Robotics and Computer-Integrated Manufacturing |language=en |volume=67 |pages=102045 |doi=10.1016/j.rcim.2020.102045|s2cid=224881163 }}

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Category:Robot kinematics

Category:Industrial robots

Category:Parallel robots