A Delta robot is a parallel robot that consists of three arms connected to several joints at the base. The proposed project introduces the two arms planar delta robot which is used for producing high torque for the handling of small objects. Applications - these type of robots is used for picking and placing products in groups and placing them in a container or in an assembly pattern.

1. Design and
Fabrication of
Delta robot
by
ABHISHEK

2. Abstract
A Delta robot is a parallel robot which consists of three
arms connected to the joints at the base. It is based on parallel
axis geometry in which they used to reach an every point within
their range at same speed. In conventional robots, there is a
difficulty to overcome against gravitational, inertia forces and
capabilities of high speeds. The proposed project introduces the
use of parallelogram mechanism that will automate for packing
purpose. The objective of packing operations is achieved by
using servomotors, proximity sensors and conveyor belt. In this
project, two arm planar delta robot is used for high speed for
handling of small objects.

3. Definition of a Robot
“A robot is a mechanical
device with links and joints, guided
by sensors, driven by actuators and
controlled through a programmed
software, to handle and manipulate
parts, materials, tools and devices
for performing various tasks in
variety of work environments’’.

4. Characteristics of a robot
Sensing Movement
Energy Intelligence

5. Components of Robot

6. Types of Industrial Robots

7. Necessity
 To overcome against gravitational and inertia forces.
 Demand of high speeds and high accelerations.
 To increase stiffness of the robot.

8. Introduction
 A Delta robot is a type of parallel robot that consists of
three arms connected to several joints at the base.
Design
 The key design feature is the use of parallelograms in the
arms, which maintains the orientation of the end effector.

9. Proposed System
 The system is Planar Delta robot.
 Prior to pick and place the light objects.
 The subsystem consists of
a) Two servomotors
b) DC motor and DC vacuum pump
c) Acrylic sheets
d) Arduino
e) Vacuum gripper
f) Conveyor belt
g) Proximity sensor
h) Servo motor driver and
i) Motor driver.

10. Block Diagram
DC Motor
Arduino Nano
Servo Motor Driver
Power
Distribution
Board
Motor Driver
DC
Vacuum
pump
Proximity
Sensor
Battery
Servo
motor 1
Servo
motor 2

11. Arduino
 Arduino is an single board
controller, intended to make
applications of interactive objects to
more accessible.
 It can sense by receiving input from
variety of sensors and effects it
surrounding by controlling lights,
motors and other actuators.

12. Servomotors

13. Servo motor driver
 A servo drive is a special electronic amplifier used to
power electric servomechanisms.

14. D.C.Motor

15. DC Vacuum pump
 Vacuum pump is to remove gas molecules from a
sealed volume and leave a partial vacuum behind.

16. Motor driver
 the function of motor drivers is to take a low-
current control signal and then turn it into a higher-
current signal that can drive a motor.

17. Distribution board
 A power distribution board is a component of an electrical system.
It separates the power supply into several circuits in an enclosure. It
provides each circuit with its protection system by using a fuse or
circuit breaker.

18. Battery
 Battery are a collection of one or more cells whose chemical
reactions create a flow of electrons in a circuit. All batteries are
made up of three basic components: an anode (the '-' side), a
cathode (the '+' side), and some kind of electrolyte (a substance that
chemically reacts with the anode and cathode).

19. Conveyor Belt
 Conveyor belt is a bulk material handling equipment.
 It transports bulk materials over long distances.

20. Proximity sensor
 Proximity sensor is a sensor able to detect the presence of
nearby objects without any physical contact.

21. Vacuum gripper
 Vacuum grippers are used in the robots for grasping the non –
ferrous objects.
 It uses vacuum cups as the gripping device, which is also
commonly known as suction cups.

22. Acrylic Sheets

23. Delta Robot of Proposed System

24. Components of the Project

25. Results
 By the movement of the servo motors from 0° to 180° and
also the working of electronic and mechanical components,
the object will be picked up and placed at their respective
times.
 The proposed project to design a Delta robot is capable of
a) carrying 20g payload,
b) achieving a cycle rate of 180 cycles per hour,
c) covering a work area of 200 x 200mm².
 The design of system includes 2 axis of rectilinear motion i.e.
X and Y axis.

26. Advantages
 Simple in structure.
 Low weight of platform.
 Capability of performing the tasks at high torque and
accuracy.
 Suitable for mass production.
Disadvantages
 Very limited workspace of the robot.
 Limited payload of the robot.
 Limited to pick and places of light products on a limited
range of motion.

27. Applications
Commercial pick and place robots Pharma pick and place robots

28. Packaging of pretzels in an industrial bakery

29. SurgiScope in action at the Surgical Robotics Lab

30. Thank You