Advertisement

The Delta Parallel Robot

  • L. Rey
  • R. Clavel
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)

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.

Keywords

Kinematic Chain Industrial Robot Real Time Control Parallel Robot Parallel Kinematic Machine 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    . Clavel R 1991 Conception d’un robot parallele rapide a 4 degres de liberte. PhD thesis #925, EPFL, CH-LausanneGoogle Scholar
  2. 2.
    Rey L, Clavel R 1998 A General Overview and History of Parallel Robots. 1. Internationales Parallelkinematik-Kooloquium IPK98, ETHZ, CH-Ziirich, 4th of JuneGoogle Scholar
  3. 3.
    . 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-BarcelonaGoogle Scholar
  4. 4.
    Clavel R 1990 Device for the Movement and Positioning of an Element in Space. United States Patent #4,976,582, Dec. 11Google Scholar
  5. 5.
    Codourey A 1991 Contribution a la commande des robots rapides et precis. Application au robot Delta a entrafnement direct, These EPFL 922, CH-LausanneGoogle Scholar
  6. 6.
    Rey L 1995 An Introduction to the Delta Robot. Workshop Reliable Robotised Packing, Unilever Research Laboratory, NL-VlaardingenGoogle Scholar
  7. 7.
    Rey L 1997 Environnement pour la conception de commandes de robots. PhD thesis #1663, EPFL, CH-LausanneGoogle Scholar
  8. 8.
    Sternheim F 1987 Computation of the Direct and Inverse Geometric Models of the Delta4 Parallel Robot. Robotersysteme 3: 199 - 203Google Scholar
  9. 9.
    Vischer P 1996 Improving the Accuracy of Parallel Robots. PhD thesis #1570, EPFL, CH-LausanneGoogle Scholar
  10. 10.
    Dayer C 1988 Optimisation du Delta4. Projet de diplome, IMT-EPFL, CH-LausanneGoogle Scholar
  11. 11.
    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-OsakaGoogle Scholar
  12. 12.
    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- AlbuquerqueGoogle Scholar
  13. 13.
    Miller K, Clavel R 1992 The Lagrange-based model of Delta-4 robot dynamics. Robotersysterne 8: 49 - 54Google Scholar
  14. 14.
    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-BarcelonaGoogle Scholar
  15. 15.
    Rey L, Clavel R 1992 Software and Hardware Security Systems for Robots. In: Proc. Int. Symposium on Industrial Robots ( ISIR ), SP-BarcelonaGoogle Scholar
  16. 16.
    Badano F et al. 1993 Assembly of Chamferless Parts Using a Fast Robot. In: Proc. Int. Symposium on Industrial Robots ( ISIR ), J-TokyoGoogle Scholar
  17. 17.
    Vicario A 1994 The Semi-Automatic Sorting Machine. Final Report, EPFL, Institut de microtechnique, CH-LausanneGoogle Scholar
  18. 18.
    Stevens BS, Clavel R 1994 The Delta Parallel Robot, its Future in Industry, ISRAMGoogle Scholar
  19. 19.
    Pernette E et al. 1997 Design of Parallel Robots in Microrobotics. Robotica 15:417-420, UK-Cambridge University PressGoogle Scholar
  20. 20.
    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-PittsburghGoogle Scholar
  21. 21.
    Magnani I 1994 New Designs for Micro-robots. International precision engineering seminar, F-CompiegneGoogle Scholar

Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • L. Rey
    • 1
  • R. Clavel
    • 1
  1. 1.Swiss Federal Institute of TechnologyISR-EPFL formerly IMT-EPFLSwitzerland

Personalised recommendations