Deltarobot

FromWikipedia,thefreeencyclopedia

Adeltarobotisatypeofparallelrobot.[2]Itconsistsofthreearms
connectedtouniversaljointsatthebase.Thekeydesignfeatureistheuseof
parallelogramsinthearms,whichmaintainstheorientationoftheend
effector.Bycontrast,aStewartplatformcanchangetheorientationofits
endeffector.[3]
Deltarobotshavepopularusageinpickingandpackaginginfactories
becausetheycanbequitefast,someexecutingupto300picksper
minute.[4]

Contents

Sketchy,aportraitdrawing
deltarobot[1]

1 History
2 Design
3 Applications
4 References

History
Thedeltarobot(aparallelarmrobot)wasinventedintheearly
1980sbyaresearchteamledbyprofessorReymondClavelatthe
colePolytechniqueFdraledeLausanne(EPFL,Switzerland).[5]
Thepurposeofthisnewtypeofrobotwastomanipulatelightand
smallobjectsataveryhighspeed,anindustrialneedatthattime.In
1987,theSwisscompanyDemaurexpurchasedalicenseforthe
deltarobotandstartedtheproductionofdeltarobotsforthe
packagingindustry.In1991ReymondClavelpresentedhisdoctoral
thesis'Conceptiond'unrobotparalllerapide4degrsde
Commercialpickandplacerobots
libert',[6]andreceivedthegoldenrobotawardin1999forhiswork
anddevelopmentofthedeltarobot.Alsoin1999,ABBFlexible
Automationstartedsellingitsdeltarobot,theFlexPicker.Bytheendof1999deltarobotswerealsosoldby
SigpackSystems.
In2009,FANUCreleasedthenewestversionoftheDeltarobot,theFANUCM1iARobot,[7]andwould
laterreleasevariationsofthisDeltarobotforheavierpayloads.FANUCreleasedtheM3iAin2010for
heavierpayloads,[8]andmostrecentlytheFANUCM2iARobotformediumsizedpayloadsin2012.[9]

Design
Thedeltarobotisaparallelrobot,i.e.itconsistsofmultiple
kinematicchainsconnectingthebasewiththeendeffector.The
robotcanalsobeseenasaspatialgeneralisationofafourbar
linkage.[10]
Thekeyconceptofthedeltarobotistheuseofparallelograms
whichrestrictthemovementoftheendplatformtopuretranslation,
i.e.onlymovementintheX,YorZdirectionwithnorotation.
Therobot'sbaseismountedabovetheworkspaceandallthe
actuatorsarelocatedonit.Fromthebase,threemiddlejointedarms
Deltarobotkinematics
extend.Theendsofthesearmsareconnectedtoasmalltriangular
platform.Actuationoftheinputlinkswillmovethetriangular
platformalongtheX,YorZdirection.Actuationcanbedonewithlinearorrotationalactuators,withor
withoutreductions(directdrive).
Sincetheactuatorsarealllocatedinthebase,thearmscanbemadeofalightcompositematerial.Asa
resultofthis,themovingpartsofthedeltarobothaveasmallinertia.Thisallowsforveryhighspeedand
highaccelerations.Havingallthearmsconnectedtogethertotheendeffectorincreasestherobotstiffness,
butreducesitsworkingvolume.
TheversiondevelopedbyReymondClavelhasfourdegreesoffreedom:[6]threetranslationsandone
rotation.Inthiscaseafourthlegextendsfromthebasetothemiddleofthetriangularplatformgivingtothe
endeffectorafourth,rotationaldegreeoffreedomaroundtheverticalaxis.
Currentlyotherversionsofthedeltarobothavebeendeveloped:
Deltawith6degreesoffreedom:developedbythecompanyFanuc,onwhichaserialkinematicwith
3rotationaldegreesoffreedomisplacedontheendeffector
Deltawith4degreesoffreedom:developedbythecompanyAdept,whichhas4parallelogram
directlyconnectedtotheendplatforminsteadofhavingafourthlegcominginthemiddleoftheend
effector
PocketDelta:developedbytheSwisscompanyAsyrilSA,a3axisversionoftheDeltaRobot
adaptedforflexiblepartfeedingsystemsandotherhighspeed,highprecisionapplications.
DeltaDirectDrive:a3degreesoffreedomDeltaRobothavingthemotordirectlyconnectedtothe
arms.Accelerationscanbeveryhigh,from30[11]upto100g.
DeltaCube:developedbytheEPFLuniversitylaboratoryLSRO,adeltarobotbuiltinamonolithic
design,havingflexurehingesjoints.Thisrobotisadaptedforultrahighprecisionapplications.
Several"lineardelta"arrangementshavebeendevelopedwherethemotorsdrivelinearactuators
ratherthanrotatinganarm.Suchlineardeltaarrangementscanhavemuchlargerworkingvolumes
thanrotationaldeltaarrangements.[12][13]
Themajorityofdeltarobotsuserotaryactuators.Verticallinearactuatorshaverecentlybeenused(usinga
lineardeltadesign)toproduceanoveldesignof3Dprinter.[14][15]Theseofferadvantagesover
conventionalleadscrewbased3Dprintersofquickeraccesstoalargerbuildvolumeforacomparable
investmentinhardware.

Applications
Industriesthattakeadvantageofthehighspeedofdeltarobotsare
thepackagingindustry,medicalandpharmaceuticalindustry.Forits
stiffnessitisalsousedforsurgery.Otherapplicationsincludehigh
precisionassemblyoperationsinacleanroomforelectronic
components.Thestructureofadeltarobotcanalsobeusedtocreate
hapticcontrollers.[17]Morerecently,thetechnologyhasbeen
adaptedto3Dprinters.Theseprinterscanbebuiltforabouta
thousanddollarsandcompetewellwiththetraditionalCartesian
printersfromtheRepRapproject.

References
1. "Sketchy,ahomeconstructeddrawingrobot".Jarkman.
2. Bonev,I.(2001)DeltaParallelRobottheStoryofSuccess,
Onlinearticleavailableat
http://www.parallemic.org/Reviews/Review002.html
3. Bonev,I.TheTrueOriginsofParallelRobots.Onlinearticle
Largedeltastyle3Dprinter[16]
availableathttp://www.parallemic.org/Reviews/Review007.html
4. http://www.botjunkie.com/2009/11/03/adeptquattroisfastestever
forthemoment/
WikimediaCommonshas
5. US4976582(http://worldwide.espacenet.com/textdoc?
mediarelatedtoDelta
DB=EPODOC&IDX=US4976582)
robots.
6. Clavel,R.(1991)Conceptiond'unrobotparalllerapide4degrs
delibert(http://library.epfl.ch/theses/?nr=925).Ph.D.Thesis,EPFL,Lausanne,Switzerland
7. http://www.fanucrobotics.com/roboticsnews/fanucpressreleases/2009Press
Releases/FANUC%20Robotics%20Introduces%20M1iA%20Assembly%20Robot.pdf
8. http://www.fanucrobotics.com/roboticsnews/fanucpressreleases/2010PressReleases/0111
10%20FANUC%20Robotics%20Introduces%20M3iA%20Assembly%20Robot%20(6).pdf
9. http://www.fanucrobotics.com/roboticsnews/fanucpressreleases/2012PressReleases/9
12%20Stamped%20Part%20StackingNew%20M2iA.pdf
10. Merlet,J.P.,ParallelRobots,KluwerAcademicPublishers,2000.
11. Miller,K.,"ModelingofDynamicsandModelBasedControlofDELTADirectDriveParallelRobot,"Journal
ofRoboticsandMechatronics,Vol.17,No.4,pp.344352,1995.
12. "Galleryofrobotsprof.ReymondClavel"(http://issuu.com/epfl/docs/reymond_clavel_eng)
13. ReymondCLAVEL."Robotsparallles"(http://jnrr2011.irccyn.ecnantes.fr/presentations/ReymondClavel.pdf)
14. JohannRocholl(6Feb2012)."Rostock(deltarobot3Dprinter)".Thingiverse.
15. MikeSzczys(13July2012)."3Dprintingwithadeltarobotthatseemstosimplifytheconcept".
16. "HoosierDaddyTheLargestDelta3DPrinterIntheWorld".3DPrinterWorld(PunchbowlMedia).23July
2014.Retrieved28September2014.
17. SunnyBains(8August2007)."Feelingvirtualworlds".

Retrievedfrom"https://en.wikipedia.org/w/index.php?title=Delta_robot&oldid=691744679"
Categories: Robotkinematics Industrialrobots
Thispagewaslastmodifiedon21November2015,at22:26.
TextisavailableundertheCreativeCommonsAttributionShareAlikeLicenseadditionaltermsmay

apply.Byusingthissite,youagreetotheTermsofUseandPrivacyPolicy.Wikipediaisa
registeredtrademarkoftheWikimediaFoundation,Inc.,anonprofitorganization.