Resonant Delta Robot for Pick-and-Place Operations

  • Juan Pablo BarretoEmail author
  • Burkhard Corves
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The use of constant-stiffness elastic elements in parallel with the motors may significantly reduce the energy consumption of Delta robots performing pick-and-place tasks. The springs and the trajectory can be designed to balance the required torque for the motion of the robot’s inertia, thus exploiting the natural dynamics of the system. In this paper we present a method for finding the appropriate spring parameters and the optimal trajectory. A comparison of the simulated energy consumption on the system with springs and the system without springs is also introduced. For the system without springs, both typical and energy-efficient trajectories were simulated.


Energy Efficiency Delta Robot Natural Dynamics 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    J. Angeles, Fundamentals of robotic mechanical systems: Theory, methods, and algorithms, 3rd ed.: Springer, 2007.Google Scholar
  2. [2]
    Li, Y. and Bone, G. M., “Are parallel manipulators more energy efficient?,” in 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Banff, Alta., Canada, Jul. 2001, pp. 41–46.Google Scholar
  3. [3]
    B. Siciliano, Robotics: Modelling, planning and control: Springer, 2009.Google Scholar
  4. [4]
    International Federation of Robotics, Executive Summary World Robotics 2018 Industrial Robots. [Online] Available:
  5. [5]
    European Comission, Energy Efficiency Plan 2011 (52011DC0109). [Online] Available:
  6. [6]
    European Comission, Proposal for a directive of the european parliament and of the council amending directive 2012/27/EU on energy efficiency (52016PC0761). [Online] Available:
  7. [7]
    G. Carabin, E. Wehrle, and R. Vidoni, “A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems,” Robotics, vol. 6, no. 4, p. 39, 2017.CrossRefGoogle Scholar
  8. [8]
    S. Seok et al., “Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot,” IEEE/ASME Trans. Mechatron., vol. 20, no. 3, pp. 1117–1129, 2015.CrossRefGoogle Scholar
  9. [9]
    R. M. Alexander, “Elastic Energy Stores in Running Vertebrates,” Am Zool, vol. 24, no. 1, pp. 85–94, 1984.CrossRefGoogle Scholar
  10. [10]
    T. McGeer, “Passive Dynamic Walking,” The International Journal of Robotics Research, vol. 9, 1990.CrossRefGoogle Scholar
  11. [11]
    V. I. Babitsky and A. V. Shipilov, Resonant Robotic Systems: Springer, 2003.Google Scholar
  12. [12]
    M. C. Plooij, “Exploiting dynamics in robotic arms with repetitive tasks,” PhD. Thesis, TU DELFT, Netherlands, 2015.Google Scholar
  13. [13]
    H. Goya, K. Matsusaka, M. Uemura, Y. Nishioka, and S. Kawamura, “Realization of High-Energy Efficient Pick-and-Place Tasks of SCARA Robots by Resonance,” in IEEE/RSJ IROS 2012, Vilamoura, Portugal, 2012.Google Scholar
  14. [14]
    M. Iwamura and W. Schiehlen, “Control and Experiments with Energy-Saving SCARA Robots,” in 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy, V. Parenti-Castelli and W. Schiehlen, Eds.: Springer, 2016, pp. 153–161.Google Scholar
  15. [15]
    J. P. Barreto, F. J.-F. Schöler, and B. Corves, “The Concept of Natural Motion for Pick and Place Operations,” in New Advances in Mechanisms, Mechanical Transmissions and Robotics, B. Corves, E.-C. Lovasz, M. Hüsing, I. Maniu, and C. Gruescu, Eds.: Springer, 2017, pp. 89–98.Google Scholar
  16. [16]
    J.P. Barreto and B. Corves, “Matching the Free-Vibration Response of a Delta Robot with Pick-and- Place Tasks Using Multi-Body Simulation,” in 14th IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, 2018.Google Scholar
  17. [17]
    W. Schiehlen and N. Guse, “Powersaving Control of Mechanisms,” in IUTAM Symposium held in Munich, Germany, 18‐22 July 2005, H. Ulbrich and W. Günthner, Eds.: Springer, 2005, pp. 277–286.Google Scholar
  18. [18]
    Luigi Biagiotti · Claudio Melchiorri, L. Biagiotti, and C. Melchiorri, Trajectory Planning for Automatic Machines and Robots: Springer, 2009.Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen UniversityAachenGermany

Personalised recommendations