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Delta robots
The
first
ever
Delta
prototype,
this
robot
was
displayed
during
the
EPFL
open
day
in
spring,
1986.
Horizontal
linear
Delta.
In
order
to
achieve
an
unlimited
volume
of
work
in
one
direction,
3
actuators
are
rectilinear
and
parallel.
The
photo
shows
a
demonstrator
integrated
into
a
laboratory
table.
(1993)
Versions
1
(1998)
and
2
(2001)
of
the
Delta
cube
robot,
specifically
created
for
ultra
high-precision
applications.
As
with
all
Deltas,
with
three
degrees
of
freedom
in
translation,
these
robots
are
capable
of
enormous
precision
(10
nanometres).
Installation
consisting
of
several
Deltas
from
Enterprise
Bosch
Packaging
Technology
for
the
packaging
of
biscuits
(c.
2000)
This
3D
touch
probe,
on
a
kinematic
Delta,
was
created
in
partnership
with
the
METAS
(Office
fdral
de
mtrologie)
and
an
LSRO2
start-up
(Mecartex).
In
optimal
metrological
conditions
METAS
achieved
absolutely
precisse
measurements
of
20
nanometres.
(2003)
This
robot
called
Delta
Thals
is
made
of
two
Deltas
coupled
on
the
same
arm.
Its
configuration
allows
for
movement
through
space
along
two
horizontal
axes
and
translation
in
the
direction
of
the
central
bar,
which
always
passes
through
the
same
point.
This
concept
can
be
used
to
create
part
of
a
machine
tool,
or
a
joystick
with
force
feedback.
For
the
purposes
of
education,
it
is
an
excellent
illustration
of
Thales
theorem.
(2004)
Kinematic
installtion
of
Delta
used
as
an
haptic
interface
(return
of
effort).
This
system,
created
by
Force
Dimension
(LSRO2
start-up)
can
be
fitted
with
an
extra
handle
or
with
2
or
3
rotating
axes.
(2004)
Armed
with
the
concept
of
the
Delta
cube
and
with
a
set-up
similar
to
the
basic
Delta,
this
machine
of
Agie
Charmilles,
also
imagined
and
developed
by
LSRO2,
has
a
very
high
level
of
precision
(around
50
nanometres).
It
is
aimed
at
electrical
discharge
micromachining.
(2005)
Delat
Keops
:
this
robot
is
characterised
by
the
pyramidal
disposition
of
its
rectilinear
supports.
Compared
to
is
fore-runners,
it
has
a
much
greater
work
volume
however,
it
is
less
rigid.
The
computer
mouse
on
the
table
gives
an
idea
of
the
size
of
the
robot.
(2006)
The
Delta
Ibis
is
borne
by
two
vertical
linear
axes
and
a
rotating
arm
with
a
horizontal
axis.
This
concept
allows
for
a
low
assembly
cost
and
is
easily
integrated
into
production
lines
and
microengineering
assemblies.
(2008)
Linear
vertical
Delta.
In
this
case
the
three
actuators
are
set
on
the
edges
of
a
triangular
prism.
This
robot
was
created
for
the
manufacture
of
split
pins
and
rubies
in
the
watchmaking
industry.
It
is
capable
of
creating
component
parts
with
a
precision
of
5
microns
with
forces
varying
from
50
to
200
N.
(2008)
Model
of
a
linear
vertical
Delta
with
low
width
and
low
cost.
It
is
less
precise
than
the
precedent.
It
can
therefore
be
set
up
around
a
standard
rotating
table
in
precision
industry.
(2008)
Prototype
of
Delta
for
direct
action
:
this
robot
capable
of
accelerations
greater
than
90g.
(2011)
Prototype
of
the
Delta
robot
for
direct
intervention,
which
was
presented
to
Interpack
in
Dsseldorf,
in
May
2011.
Dr
Mohamed
Bouri,
on
the
right,
is
the
control
specialist
for
these
parallel
machines
at
LSRO2.
(2011)