Deltarobots
Delta robots, also called deltarobots, are a class of parallel robotic manipulators designed for high-speed translational motion with minimal end-effector rotation. They comprise three identical arms connected between a fixed base and a single end-effector plate. Each arm is driven by an actuator at the base and uses a parallelogram linkage to preserve the orientation of the end-effector as its position changes. In typical configurations, the end effector translates in three dimensions while maintaining a roughly constant orientation, making Delta robots well suited for rapid pick-and-place tasks.
Invented by Reymond Clavel in 1985, the Delta robot was developed at EPFL and popularized for industrial
Control and kinematics: Inverse kinematics—computing actuator positions from a desired end-effector position—is typically solvable in closed
Applications: Delta robots are widely employed in packaging, electronics assembly, sorting, food processing, and other high-speed
Variants and limitations: Different arm lengths, base sizes, and end-effector geometries yield different workspace shapes and