Deltarobot

Deltarobot is a type of parallel robot characterized by its three arms attached to a common base. Each arm consists of two parallelograms, allowing for movement in three translational degrees of freedom. This configuration enables the robot's end-effector, which is the part that interacts with the environment, to move rapidly and precisely in a confined workspace. The parallel nature of its design provides inherent rigidity and high dynamic performance, making it suitable for applications requiring fast and accurate positioning.

The kinematic structure of a deltarobot allows for a large acceleration capability compared to serial manipulators. This is because the inertia of the moving parts is distributed among the three arms, and the motors are typically located on the stationary base, reducing the moving mass. This characteristic makes deltarobots ideal for pick-and-place operations, assembly tasks, and high-speed sorting. They are commonly employed in industries such as electronics manufacturing, food packaging, and pharmaceuticals.

The workspace of a deltarobot is typically spherical or hemispherical. While its workspace can be limited in reach compared to some other robot types, its speed and precision within that workspace are significant advantages. Control algorithms for deltarobots focus on coordinating the movements of the three arms to achieve the desired trajectory of the end-effector. Modern deltarobots often incorporate advanced sensors and control systems to enhance their performance and adaptability.