Abstract
This article presents the main research fields and results concerning the Delta robot. The introduction presents the origin leading to the Delta robot. Some variants of the base Delta robot are then discussed. The article continues with a presentation of the different characteristics and modelisation issues of the base Delta robot structure. The control schemes that have been used with the Delta robot are then presented. Some application examples are given to illustrate the large potential of the Delta structure and to highlight other research fields involved during its study and its current use in real applications. Finally the conclusion discusses research activities concerning the future of the Delta structure and its implications in other research activities of the ISR.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
. Clavel R 1991 Conception d’un robot parallele rapide a 4 degres de liberte. PhD thesis #925, EPFL, CH-Lausanne
Rey L, Clavel R 1998 A General Overview and History of Parallel Robots. 1. Internationales Parallelkinematik-Kooloquium IPK98, ETHZ, CH-Ziirich, 4th of June
. Uchiyama M et al. 1992 A New Design of a Very Fast 6-DOF Parallel Robot. In: Proc. Int. Symposium on Industrial Robots ( ISIR ), SP-Barcelona
Clavel R 1990 Device for the Movement and Positioning of an Element in Space. United States Patent #4,976,582, Dec. 11
Codourey A 1991 Contribution a la commande des robots rapides et precis. Application au robot Delta a entrafnement direct, These EPFL 922, CH-Lausanne
Rey L 1995 An Introduction to the Delta Robot. Workshop Reliable Robotised Packing, Unilever Research Laboratory, NL-Vlaardingen
Rey L 1997 Environnement pour la conception de commandes de robots. PhD thesis #1663, EPFL, CH-Lausanne
Sternheim F 1987 Computation of the Direct and Inverse Geometric Models of the Delta4 Parallel Robot. Robotersysteme 3: 199 - 203
Vischer P 1996 Improving the Accuracy of Parallel Robots. PhD thesis #1570, EPFL, CH-Lausanne
Dayer C 1988 Optimisation du Delta4. Projet de diplome, IMT-EPFL, CH-Lausanne
Codourey A 1996 Dynamic Modelling and Mass Matrix Evaluation of the Delta Parallel Robot for Axes Decoupling Control. IROS’96 IEEE/RSJ International Conference on Intelligent Robots and Systems, J-Osaka
Codourey A, Burdet E 1997 A Body-oriented Method for Finding a Linear Form of the Dynamic Equation of Fully Parallel Robots. ICRA ’97, USA- Albuquerque
Miller K, Clavel R 1992 The Lagrange-based model of Delta-4 robot dynamics. Robotersysterne 8: 49 - 54
Stevens BS, Rey L, Clavel R 1992 The Delta Parallel structured Robot, yet more Performant through Direct Drive. In: Proc. Int. Symposium on Industrial Robots (.[SIR% SP-Barcelona
Rey L, Clavel R 1992 Software and Hardware Security Systems for Robots. In: Proc. Int. Symposium on Industrial Robots ( ISIR ), SP-Barcelona
Badano F et al. 1993 Assembly of Chamferless Parts Using a Fast Robot. In: Proc. Int. Symposium on Industrial Robots ( ISIR ), J-Tokyo
Vicario A 1994 The Semi-Automatic Sorting Machine. Final Report, EPFL, Institut de microtechnique, CH-Lausanne
Stevens BS, Clavel R 1994 The Delta Parallel Robot, its Future in Industry, ISRAM
Pernette E et al. 1997 Design of Parallel Robots in Microrobotics. Robotica 15:417-420, UK-Cambridge University Press
Pernette E, Clavel R 1997 Ultra-Accurate Actuator with Long Travel. In: Proceedings of SPIE’s International Symposium on Intelligent Systems and Advanced Manufacturing, USA-Pittsburgh
Magnani I 1994 New Designs for Micro-robots. International precision engineering seminar, F-Compiegne
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag London Limited
About this paper
Cite this paper
Rey, L., Clavel, R. (1999). The Delta Parallel Robot. In: Boër, C.R., Molinari-Tosatti, L., Smith, K.S. (eds) Parallel Kinematic Machines. Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-4471-0885-6_29
Download citation
DOI: https://doi.org/10.1007/978-1-4471-0885-6_29
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1228-0
Online ISBN: 978-1-4471-0885-6
eBook Packages: Springer Book Archive