this is regarding my robotic description following up

1. TECHNICAL UNIVERSITY OF KOSICE
ASSIGNMENT -2
MECHATRONICS SYSTEM DESIGN
*TOPIC*
DELTA ROBOT
PRESENTED BY Ing. Erik Prada, PhD.
SHUSHRUTH ARAVINDH A Technical University of kosice

2. Contents
1 INTRODUCTION OF DELTA ROBOT...............................................................................................4
1.1 REQUIREMENTS FOR THE DELTA ROBOT........................................................................................5
1.2 ROBOT ARCHITECTURE ..................................................................................................................5
1.3 APPLICATIONS FOR DELTA ROBOT USED IN VARIOUS PLATFORMS .................................................6
1.4 CURRENTLY OTHER VERSIONS OF THE DELTA ROBOT HAVE BEEN DEVELOPED...............................6
1.5 INTRODUCTION TO GEOMETRIC OF PARALLEL ROBOTS..................................................................7
2 PARALLEL ROBOT ...........................................................................................................................8
2.1 KINEMATIC MODELING..................................................................................................................9
2.2 SYSTEM IMPLEMENTATION..........................................................................................................13
2.3 INDUSTRIAL USED DELTA ROBOTS................................................................................................14
2.4 ACCURACY FORMATIONS.............................................................................................................15
2.5 3D MODEL OF DELTA ROBOT .......................................................................................................16
2.6 ROBOT DESIGN ............................................................................................................................17
3 DIFFERENT TYPES OF MANUFACTURES FOR DELTA ROBOT................................................20
3.1 ABB DELTA ROBOT.......................................................................................................................20
3.1.1 ABB DELTA ROBOT FEATURES ...................................................................................................21
3.1.2 ABB DELTA ROBOT BENEFITS.....................................................................................................22
3.2 OMRON DELTA ROBOT ................................................................................................................22
3.2.1 OMRONDEBUTSWORLD’SFASTESTANDFIRST4ARMDELTAROBOT.......................................................23
3.2.2 CONTROL MEASURES OF OMRON DELTA ROBOT ......................................................................24
3.3 FESTO DELTA ROBOTICS...............................................................................................................25
3.3.1 FESTO TRIPOD EXPT – THE PARALLEL KINEMATIC ROBOTS ........................................................25
3.3.2 PARALLEL KINEMATIC SYSTEM EXPT, TRIPOD ............................................................................27
3.3.3 TECHNICAL SPECIFICATION .......................................................................................................29
3.4 FANUC INDUSTRIAL......................................................................................................................30
3.4.1 FANUC SPECIFICATION..............................................................................................................32
CONCLUSION.........................................................................................................................................33
Bibliography..........................................................................................................................................34

3. Abstract
`This investigation concerns the design and implementation of the DELTA parallel robot,
covering the entire mechatonics process, involving kinematics, control design and optimizing
methods. To accelerate the construction of the robot, 3D printing is used to fabricate end
effectors parts. The parts are modular, low-cost, and reconfigurable and can be assembled in less
time than is required for conventionally fabricated parts. The controller, including the control
algorithm and human-machine interface (HMI), Personal software environment. The integration
of the motion controller with image recognition into an opto mechatronics system is presented.
The robot system has been entered into robotic competitions in Taiwan. The experimental results
reveal that the proposed DELTA robot completed the tasks in those competitions successfully.

4. 1 INTRODUCTION OF DELTA ROBOT
A delta robot is a kind of parallel robot composed of three arms attached at the base to
uniform joints. The key design attribute is the use of parallelograms in the chassis, which
preserves the end effectors’ orientation, as compared to Stewart's model, which can adjust the
direction of its end effectors Delta robots are used popularly in factory picking and packaging
because they can be very quick, some executing up to 300 picks per minute
Parallel robots have advantages for many applications in the fields of robotics, such as
rigidity, speed, low mobile mass and superior accuracy. However, the main drawback of parallel
robots is their small workspace and often limited manipulability in certain areas of the space .
Several research initiatives conducted in this domain, particularly to have led to innovative
architectures such as the famous DELTA robot
The DELTA robot has attracted much attention in both academia and industry. The literature
contains much information on the history and types of parallel robots . In general, the DELTA
robot consists of an equilateral triangular base, with one arm (actuated via a revolute joint)
extending from each side. The small, triangular travelling plate is connected to each arm by a
pair of parallelogram shaped forearms. The result is three translational degrees of freedom, with
one additional uncoupled rotational degree of freedom at the end-effectors, resulting in one
motor being fixed to the base and connected to the end effector by a telescopic arm with two
universal joints

5. 1.1 REQUIREMENTS FOR THE DELTA ROBOT
 Nominal load: 0,5 kg – 50 kg
 Operating range: 200 mm – 1400 mm
 Performance: Up to 200 ISO cycles per minute!
 Number of axes: 3 – 5 axes
 Media supply: internal + external
 Hygienic design
1.2 ROBOT ARCHITECTURE
The proposed DELTA robot features a parallel manipulator comprising a fixed main
supporting frame and a moving platform linked by three independent, identical and open
kinematic chains (Fig. 1). The DELTA robot consists of a moving platform that is connected to
the main supporting frame by three identical and parallel kinematic chains, each of which is
driven by a revolute motor mounted on the supporting frame. A forearm is composed of two bars
of equal length, and each bar ends with ball joints.
The robot arms are interconnected by three closed kinematic chains, and each arm is
connected to an actuator, being separated 120° from each other. As seen in the figure, the robot
consists of two links, and in turn, a pair of parallel bars comprises the lower link. This
configuration restricts the movements of the end effectors to three possible translations,
according to the X, Y, and Z axis.
There are several different Delta Robot models currently in circulation. Figure 8 shows
information about many popular models. The robots shown in Figure 8 are depicted in Figure 9
and Figure 10. It can be seen that most Delta Robots have a mechanical accuracy of
approximately .1mm. This sets a standard that will be the goal of the robot designed in this
thesis. Achieving a resolution on the order of magnitude of .1mm will be considered a success
due to the prototype nature of the designed robot.

6. 1.3 APPLICATIONS FOR DELTA ROBOT USED IN VARIOUS
PLATFORMS
 Industries that take advantage of the high speed of delta robots are the packaging industry
 medical and pharmaceutical industry. For its stiffness it is also used for surgery.
 Other applications include high precision assembly operations in a clean room for
electronic components.

The structure of a delta robot can also be used to create hap tic controllers.
 More recently, the technology has been adapted to 3D printers.
 These printers can be built for about a thousand dollars and compete well with traditional
Cartesian printers.
1.4 CURRENTLY OTHER VERSIONS OF THE DELTA ROBOT HAVE
BEEN DEVELOPED
 Delta with 6 degrees of freedom: developed by the company Fanuc, on which a serial
kinematic with 3 rotational degrees of freedom is placed on the end effectors
 Delta with 4 degrees of freedom: developed by the company Adept, which has 4
parallelogram directly connected to the end-platform instead of having a fourth leg
coming in the middle of the end-effectors
 Pocket Delta: developed by the Swiss company Assyria SA, a 3-axis version of the
Delta Robot adapted for flexible part feeding systems and other high-speed, high-
precision applications.
 Delta Direct Drive: a 3 degrees of freedom Delta Robot having the motor directly
connected to the arms. Accelerations can be very high, from 30 up to 100

7.  Delta Cube: developed by the university laboratory LSRO, a delta robot built in a
monolithic design, having flexure-hinges joints. This robot is adapted for ultra-high-
precision applications.
 Several "linear delta" arrangements have been developed where the motors drive
linear actuators rather than rotating an arm. Such linear delta arrangements can have
much larger working volumes than rotational delta arrangements.
 The majority of delta robots use rotary actuators. Vertical linear actuators have
recently been used (using a linear delta design) to produce a novel design of These
offer advantages over conventional lead screw-based 3D printers of quicker access to
a larger build volume for a comparable investment in hardware.
1.5 INTRODUCTION TO GEOMETRIC OF PARALLEL ROBOTS
Parallel architectures were originally proposed in the context of tire-testing machines and
flight simulators Since then, they have been used in other applications requiring manipulation of
heavy loads with high accelerations such as vehicle driving simulators or the riding simulator
developed for the French National Riding School. Recently,
These kind of structures have attracted considerable interest in various manufacturing
applications due to their inherent characteristics, as compared with those of serial robots, which
include high structural rigidity and better dynamic performances. This concept is currently used
in designing new generations of high speed machine tools.
This chapter deals with the geometric and kinematic modeling of such robots. It is shown
that the closed-form solution of the inverse geometric model is straightforward for a six degree-
of-freedom parallel robot.

8. 2 PARALLEL ROBOT
A parallel robot is composed of a mobile platform connected to ei fixed base by a set of
identical parallel kinematic chains, which are called legs. The end-effectors is fixed to the mobile
platform. A parallel robot is said to be fiilly parallel when the number of legs is greater or equal
to the number of degrees of freedom of the mobile platform, each parallel chain having a single
actuator
The kinematic configuration of the DELTA robot presents one of the more simple types of
parallel structures.
This is achieved through implementation of three parallelograms, ensuring mutual parallelism of
the stationarybase and the moving platform .
Next, the principles of the inverse kinematics will be used, in order to find the angle of
each of the actuators by knowing the position of the end effectors. According to the robot design
(Fig. 2), the joint F1 J1 can only rotate in the YZ plane, hence configuring a circle with center
point on F1 and radius rf . On the contrary, F1 , J 1 and E1 are called universal joints, which
means that E1 J1 can freely rotate relative to the point E1 , hence forming a sphere centered at
E1 and with radius re . The intersection between the circle and the sphere occurs at two points,
and the point with the lower value on the Y coordinates is taken as the solution point. By
determining the position of the point J 1 we can get the angle θ1 for the actuator

9. Most Delta Robots have top speeds of 200-300mm/s as shown in Figure 8. Although the
robots are capable of high speeds, often they are operated at much slower speeds. The 3D printer
used to construct many parts of the Delta Robot designed in this thesis gave the best results at
speeds of 20mm/s and lower. Due to the complicated nature of 5th order polynomial control,
reaching speeds of 200-300mm/s is unlikely and unnecessary for the purposes of this thesis. As
technology increases, low cost microcontrollers will increase in computational power. This will
result in lower calculation times and higher top speeds for the robot being controlled via the
presented method. Because of this, high speeds will be attainable using the same methods
presented in this thesis when more powerful hardware becomes available. Because of this, low
speeds may be considered acceptable for the purposes of this thesis.
The theoretical accuracy of the robot is computed by compounding the error associated
with each component of the robot using error propagation formulations. This error will be tested
experimentally to quantify the actual accuracy of the robot. The maximum speed of the robot
will be quantified based on the control algorithms. Lastly, the actual motion of the robot will be
compared to the theoretical motion via optical encoders coupled to the motor shafts. This data
will be used to verify that the actual motion of the robot matches the theoretical motion
2.1 KINEMATIC MODELING
A static Cartesian coordinate frame XYZ is fixed at the centre of the base, to which a
mobile Cartesian coordinate frame XYZ is assigned to the centre of the mobile platform. Pi , i=1,
2, 3, and Ci , i=1, 2, 3, are the joints located at the centre of the base (as presented in and the
moving-platform passive joints, respectively. The coordinates of points Pi in the reference frame
related to the fixed base plate are given by the following .
Next, the principles of the inverse kinematics will be used, in order to find the angle of each of
the actuators by knowing the position of the end effectors. According to the robot design the
joint can only rotate in the YZ plane, hence configuring a circle with center point on F1 and
radius rf . On the contrary, are called universal joints, which means can freely rotate relative to
the point , hence forming a sphere centered at and with radius . The intersection between the

10. circle and the sphere occurs at two points, and the point with the lower value on the Y
coordinates is taken as the solution point. By determining the position of the point J 1 we can get
the angle θ1 for the actuator.
where R is the radius of the fixed base’s circle. Similarly, the coordinates of points Ci in the
reference frame related to the moving platform are given by
where r is the radius of the moving platform’s circle. Hence, the constraint equations for the
DELTA robot are generated by applying Pythagoras’ rule in three dimen‐ sions to each pair of
arms [4, 7]. Noting that L 1 = L 2 = L 3 , the equations define three spheres:

11. Alternatively, for the establishment of the direct kinematic model, we solve the system (3) with
respect to X, Y, Z, which yields the following system:
In this subsection, the workspace of the proposed DELTA robot will be discussed in
detail. For a robot in the context of industrial application and given parameters, it is important to
analyse the area and the shape of its work‐ space. Calculation of the workspace and its
boundaries with perfect precision is crucial, because they influence the dimensional design, the
manipulator’s positioning in the work environment and the robot’s dexterity in executing tasks.
The workspace is constrained by several conditions, mainly the boundary that is obtained
through solving inverse kinematics. Moreover, the workspace is limited first by the accessibility
of drives and joints, then by the occurrence of singularities and finally by the link and platform
collisions. depicts the task’s definition and dimensions. shows a dimension concept of the
DELTA robot and depicts its workspace, the location of its world reference frame and the chief
geometrical parameters of the work‐ space the location of the centre of the me‐ chanical interface
From the centre of the moving platform. Moreover, the angle θ in Fig. 4 is restricted to between

12. 30° and 80°. In order to generate a reachable workspace (1000 mm × 700 mm × 400 mm) for the
proposed DELTA-robot system, a numerical algorithm was introduced. For the design of a
DELTA robot, the kinematic parameters of the robot should be initially determined. The design
parame‐ ters are determined for a desired workspace with the optimization techniques described
By analysing we note that for each value of given Qi (Qi ؏ Qimin Qimax ), the workspace of
each kinematic chain is a sphere radius R, which is irregular in form. Obtaining a workspace of
regular form is possible by forming a circle equation X 2 + Y 2 =r 2 that is perpendicular to Z.
The goal is to obtain the largest prescribed and regular dexterous workspace using the objective
function r = (AZ + B) 2 + (CZ + D) 2 . Here, the kinematic parameters are the three variables to
be determined: R=889 mm, r=49 mm and L=1540 mm.

13. 2.2 SYSTEM IMPLEMENTATION
The system implementation will consist of three parts: mechanism and hardware
development, kinematics and software development Mechanism and hardware development The
design of the proposed DELTA robot includes a two axis rotation of the wrist, a gripper and a
six-axis robotic arm. The proposed DELTA robot consists of a fixed base, a travelling plate and
three kinematic chains that connect the fixed base to the travelling plate, which is the robot’s end
effectors. Each kinematic chain comprises an upper arm that is actuated by a revolute, brushless
DC servomotor and a lower arm. Figure 6 displays the 3D-concept drawing and
To speed up the construction of the robot, 3D printing is utilized to fabricate the end-effectors
parts, which are designed in a modular fashion for ease of reconfiguration and assembly This
method reduces the cost and tooling time by approximately 80% of those values achieved using
Computerized Numerical Control (CNC) in the fabrication of parts.

14. 2.3 INDUSTRIAL USED DELTA ROBOTS
Industrial Robot is a robot system used for manufacturing. Industrial robots are
automated, programmable and capable of movement on three or more axes.
Typical applications of robots include welding, painting, assembly, disassembly , pick and
place for printed circuit boards, packaging and labeling, palletizing, product inspection, and
testing; all accomplished with high endurance, speed, and precision. They can assist in material
handling.
Other robots are much more flexible as to the orientation of the object on which they are
operating or even the task that has to be performed on the object itself, which the robot may even
need to identify. For example, for more precise guidance, robots often contain machine
vision sub-systems acting as their visual sensors, linked to powerful computers or
controllers. Artificial intelligence, or what passes for it becoming an increasingly important
factor in the modern industrial robot.

15. 2.4 ACCURACY FORMATIONS
Accuracy and repeatability are different measures. Repeatability is usually the most
important criterion for a robot and is similar to the concept of accuracy in measurement
see accuracy and precision. sets out a method whereby both accuracy and repeatability can be
measured.
Typically a robot is sent to a taught position a number of times and the error is measured
at each return to the position after visiting 4 other positions.
Repeatability is then quantified using the standard deviation of those samples in all three
dimensions. A typical robot can, of course make a positional error exceeding that and that could
be a problem for the process.
Moreover, the repeatability is different in different parts of the working envelope and
also changes with speed and payload. ISO 9283 specifies that accuracy and repeatability should
be measured at maximum speed and at maximum payload.
But this results in pessimistic values whereas the robot could be much more accurate and
repeatable at light loads and speeds. Repeatability in an industrial process is also subject to the
accuracy of the end effectors, for example a gripper, and even to the design of the 'fingers' that
match the gripper to the object being grasped.
For example, if a robot picks a screw by its head, the screw could be at a random angle. A
subsequent attempt to insert the screw into a hole could easily fail. These and similar scenarios
can be improved with 'lead-ins' e.g. by making the entrance to the hole tapered.
Some robots are programmed to faithfully carry out specific actions over and over again
(repetitive actions) without variation and with a high degree of accuracy. These actions are
determined by programmed routines that specify the direction, acceleration, velocity,
deceleration, and distance of a series of coordinated motions.

16. 2.5 3D MODEL OF DELTA ROBOT
The advent of 3D printing, the Delta Robot has been revisited. Its design excels at this task
because of its three translational degrees of freedom, and its speed. Hobbyists and engineers have
developed many different designs for the Delta Robot for 3D printing, most importantly using
linear inputs driven by timing belts instead of rotational inputs. Figure 2 demonstrates how the
end effectors of the linear input Delta Robot moves with three translational degrees of freedom
as a result of three linear inputs driving carriages with two spherical or universal joints
connecting two parallel rods to the end effectors. The linear input Delta Robot has become a
common choice when purchasing a 3D printer.
The Delta Robot belongs to a group called parallel robots . Parallel robots use multiple links
attached to the end effectors in order to move. In most cases, the motors used to drive parallel
robots are mounted to the stationary frame of the robot, and do not move . Parallel robots excel at
pick and place operations where speed is important Just as the first Delta Robot was used to
move chocolates from a conveyor belt to their packaging today’s parallel robots are used for
similar tasks pick and place operations, and 3D printing
Robots that are not parallel are known as serial robots. Serial robots have only one link attached
to the end effector, and often the motors are attached to moving parts of the robot . The

17. traditional robotic arm is an example of a serial robot Other serial robots include the traditional
The traditional robotic arm is an example of a serial robot Other serial robots include the
traditional printer which consists of a moving gantry with two degrees of freedom and a build
plate with one degree of freedom.
2.6 ROBOT DESIGN
The process of designing the linear Delta Robot is started by studying the design of
existing models. Many design choices existing in common 3D printers are accepted to be the
most effective design choice, and are expected if not required to be present in any household
linear Delta Robot. These include: the use of timing belts to actuate robot carriages vertically
along a linear rod/rail as shown in, the presence of two parallel links joining each carriage to the
robot’s end effectors as shown in the use of NEMA 17 stepper motors as the primary actuators as
shown in Figure 14, and a frame consisting of extruded t-slot aluminum.
Timing Belt Driving Linear Motion Along Hardened Rods

18. Several design choices were made in the construction of this robot which are uncommon
or not seen at all in commercial linear Delta Robots. These design choices were chosen with the
goal of improving different aspects of the design.
NEMA 17 Stepper Motor
A hexagonal frame allows for a large build plate to be attached without overhang on the sides of
the robot. The hexagonal frame works in conjunction with the next unique design choice: double
reinforced linear axes.
Two Parallel Links Connecting Each Carriage to End Effectors
In most commercial linear Delta Robots the three carriages which slide along the linear axes ride
directly on the robot’s three support legs. The only support structure existing between the top and

19. bottom of the robot is either six hardened rods, or three aluminum extrusions. The carriages slide
along either of these two structures using linear bearings or rollers
Top View of Robot, Showing the Hexagonal Shape of the Frame
Stepper motor Stepper motor drivers contain circuitry that regulates the current through stepper
motor coils automatically. Micro step resolution on the a4988 driver can be set as high as 3200
steps per revolution (each step broken into 16 micro steps). All that is required to drive a motor
with a stepper motor driver like the a4988 is that it is supplied with a digital signal for both step
and direction. Setting the step pin to ‘high’ actuates the motor forward or back one micro step
depending on the state of the direction pin. The a4988 stepper driver is a ‘chopping’ stepper
motor driver
Pololu A4988 Stepper Motor Driver
Chopping drivers allow the user to set a current limit for the motor for safety, and allow the use
of higher voltages than the motor is rated for The current limiting protects both the driver and the
motor, and the use of higher voltages allows for higher step response speed, which results in
higher top speeds for motors Stepper motor drivers allow a robot to be controlled with a low cost
microcontroller such as an Arduino.

20. 3 DIFFERENT TYPES OF MANUFACTURES FOR DELTA ROBOT
 ABB DELTA ROBOT
 OMRON DELTA ROBOT
 FESTO DELTA ROBOT
 FANUC INDUSTRIAL DELTA ROBOT SERIES
These are some of the manufactures that are beein manufactured from the delta robot formations
.
3.1 ABB DELTA ROBOT
The ABB Flex picker, the ABB IRB 360 IRC5, is a “smart' Delta robot with a compact
footprint, precision accuracy, outstanding motion control, and short cycle times. The IRB 360
operates in narrow to wide spaces with tight tolerances, all at very high speeds.
Flex pickers ABB delta robot
The theta axis has been made even more accurate and robust, while collision resistance
and consequence reduction has been improved. The smaller footprint enables valuable space to

21. be kept to a minimum and allows it to be built into various applications. Finally, the new robot
has been value engineered to keep price performance called the Flex Picker IRB 360, the new
robot family will initially see three models available. Stainless steel versions are available for
wash down duties such as in meat and dairy handling applications. Complementing the new
generation Flex Pickers is ABB’s proven Pick Master software that makes programming simple.
The software enables modeling for applications and assists with the optimization of
multiple robot installations.ABB has over 1800 delta robots installed globally and is the leader in
this state of the art picking and packing technology. Growth is currently at the rate of 40% and
the new generation robots will likely see that increase further. Measured against alternative robot
technologies, the Flex Picker wins hands down for accuracy, speed, reliability and
versatility.ABB is a leader in power and automation technologies that enable utility and industry
customers to improve their performance while lowering environmental impact.
The ABB Group of companies operates in around 100 countries and employs about
108,000 people.ABB ROBOTICS ABB is a leading supplier of industrial robots - also providing
robot software, peripheral equipment, modular manufacturing cells and service for tasks such as
welding, handling, assembly, painting and finishing, picking, packing, palletizing and machine
tending.
Key markets include automotive, plastics, metal fabrication, foundry, electronics,
pharmaceutical and food and beverage industries. A strong solutions focus helps manufacturers
improve productivity, product quality and worker safety. ABB has installed more than 150,000
robots worldwide.
3.1.1 ABB DELTA ROBOT FEATURES
 High speed flexibility
 High capacity up to 3 kg of loads
 Hygienic design for wash down applications
 Superior tracking performance
 Integrated vision software
 Integrated control of indexing belts

22. 3.1.2 ABB DELTA ROBOT BENEFITS
 To ensure fast processing of your products
 To offer increased flexibility
 This is used for food applications
 To enable moving products to be picked
 To recognize product type and orientation
 To ensure product type and orientation
3.1.3 ABB DELTA ROBOT SPECIFICATIONS :
Components IRB 360-1 800 IRB 360-1/1130 IRB 360-3/1130
Number of axes 4 3/4 4
Payload 1 kg 1 kg 3 kg
Working range 800 mm 1130 mm 1600 mm
Repeatability 0.1mm 0.1mm 0.1mm
Supply voltage 200-600 V, 60 Hz 200-600 V, 60 Hz 200-600 V, 60 Hz
Protection IP56 (IP67 & 69K
optional)
IP56 (IP67 & 69K
optional)
IP56 (IP67 & 69K
optional)
Environmental site Ambient
temperature ±0°C
Ambient
temperature ±0°C
Ambient
temperature ±0°C
3.2 OMRON DELTA ROBOT
The fastest picking system integrated in the Sigma platform. The Delta solution can
achieve up to 200 cycles per minute and can be synchronized with multiple conveyors to perform
on-the-fly Pick & Place operations.
There are 3 types of Delta robot arms available as Wash down, Delta and Mini Delta
robot. The Delta solution can achieve up to 200 cycles per minute and can be synchronized with
multiple conveyors to perform on-the-fly Pick & Place operations. There are 3 types of Delta

23. robot arms available as Wash down, Delta and Mini Delta robot. The NJ controller offers a
response time of 2 ms when controlling 8 Delta robots or 1 ms when controlling 4 robots.
3.2.1 OMRONDEBUTSWORLD’SFASTESTANDFIRST4ARMDELTAROBOT
The pick rate of 300 per minute, Omron will debut the world’s fastest and most flexible
Delta pick and place robot on stand B34 at PPMA 2017. The only Delta on the market with four
arms, the Omron Quattro also offers a larger working envelope and a degree of manipulation not
achievable elsewhere. Furthermore, the Quattro is also the only Delta robot which is USDA
certified and constructed with materials that are safe for primary food handling, making it more
hygienically-advanced than existing robots on the market.
The key to the advanced performance of the Quattro Delta robot is a unique, patented, four arm
rotational platform, which offers significant advantages over traditional three arm Delta robots.
The fourth arm allows the robot to reach up to 30% further than traditional designs, facilitating a
larger operational area, including the ability to access wider conveyors. The extra arm also
allows the robot to tilt, meaning the load can be placed at a different angle than it is picked – a
real game changer for packaging and other automation applications. The powerful combination
of speed, manipulation, reach and a 15kg payload will ensure the Omron Quattro Delta is ideal
for any general automation application.

24. Dan Rossek, Omron Marketing Manager comments: “PPMA members go out of their way to
exhibit the latest cutting-edge technology to attract UK brand owners from the food, pharma and
FMCG industries. This year, Omron will debut the only 4 arm Delta robot in the world – the
Quattro, which is also the fastest Delta robot on the market and the only system that’s USDA
hygiene-certified. It’s a feat of engineering for all to see.”
Complementing the Quattro Delta on stand B34, will be a preview of Omron’s futuristic OKAO
software. The demonstration will show powerful gesture control over the production process, as
well as how facial recognition can be used to unlock different levels of access to control
functions and information. Omron will also demonstrate a new 4.0 ready visualization platform,
giving a complete visual representation of critical machine and production data.
3.2.2 CONTROL MEASURES OF OMRON DELTA ROBOT
 Control of up to 8 robots by one controller
 Degrees of freedom: 3 + 1 (rotational axis optional)
 Up to 200 cycle per minute
 Model range from 450 to 1600 mm working range
 Payload range: 1 to 8 kg
 IP class range: IP65, IP67, IP69K
 New anti collision detection: This optional function allows you to increase the safety
on your machine by detecting dangerous and unexpected shocks on the gripper.
The fastest picking system integrated in the Sysmac platform The Delta solution can achieve up
to 200 cycles per minute and can be synchronized with multiple conveyors to perform on-the-fly
Pick & Place operations. There are 3 types of Delta robot arms available as Wash down, Delta
and Mini Delta robot. The NJ controller offers a response time of 2 ms when controlling 8 Delta
robots or 1 ms when controlling 4 robots.

25. 3.2.3 OMRON DELTA ROBOT SPECIFICATION
Model R6Y31110H03067NJ5
Working volume X, Y axis (stroke)
Z axis (stroke)
1000 mm
Servo motor R88M-K1K030T-BS2
Repeatability ±0.2 mm
Maximum payload 3 kg
Maximum through-put 150 CPM*3
θ axis tolerable moment of inertia
0.035 kgm2
User tubing (outer diameter) Ø 6
Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z
axis)
Noise level < 73.7 dB (A)
Ambient temperature
0°C to 45°C
Relative humidity Max. 85%
Protection class IP67
3.3 FESTO DELTA ROBOTICS
3.3.1 FESTO TRIPOD EXPT – THE PARALLEL KINEMATIC ROBOTS
The high-speed handling system with robotic functionality for free movement in 3D
space provides precision in movement and positioning, combined with high dynamic response up
to 150picks/min.

26. The control package with robotic control, together with the extremely rigid pyramid
structure, ensures high path accuracy and positioning accuracy.
It is perfect for pick and place applications, sorting and palletizing tasks, as well as bonding
applications.
The high-speed handling unit with robot functionality for free movement in three
dimensions provides precision in movement and positioning as well as a high dynamic response
of up to 150 picks/min.
The highly rigid mechanical design and low moving mass make the parallel delta
kinematic system with toothed belt axes up to three times as fast as comparable Cartesian
systems. Three double rods keep the front unit horizontal at all times. The axes and servo motors
do not move with the unit.
The parallel kinematic system is suitable for handling loads of up to max. 5 kg. Typical
applications include: Picking & placing small parts Bonding Labeling Palletizing Sorting
Grouping Repositioning and separating
Low moving mass – ideal for demanding requirements on dynamic response in three
dimensions High path accuracy with a range of path profiles, even for highly dynamic operation
Four sizes with a working space diameter of up to 1200 mm
Axes build on one another; the first axis carries all the subsequent axes High moving
mass, therefore much lower dynamic response Rectangular, scalable working space Based on
standard components Flexible designs

27. Abrasion on the toothed belt can lead to loose particles falling into the working space in
the standard design. If the variant EXPT-…-P8 ( page 29) is selected, the axes are turned during
installation (slide on top). A cover kit EASC-E10 ( page 32) can be additionally
The ordered as a separate accessory and fitted; this prevents the particles from entering
the working space. They slide downwards into the trough and collect in the cover (see below)
3.3.2 PARALLEL KINEMATIC SYSTEM EXPT, TRIPOD
The positioning and path accuracy depends to a large extent on the frame design. The following
influences must therefore be taken into consideration: Frame rigidity Mass of frame Mass of
parallel kinematic system Start-up frequency caused by dynamic operation of the parallel
kinematic system – Cycles per minute – Dynamic settings for acceleration and jerk Maximum
forces occur if two axes accelerate in the opposite direction to the third and result in horizontal
movement of the nominal load. The frame must be designed so that the maximum forces that can

28. occur as a result of the parallel kinematic system can be absorbed with the necessary degree of
certainty. The guide value for the first natural frequency is specified to be at least 16 Hz for the
complete system.
The parallel kinematic system must always be mounted in the area of the corner bracket of the
mounting frame. Ensure that the corner bracket area has a torsion ally rigid, flat bearing surface.
The bearing surface must meet the following minimum requirements in order to achieve the
positioning accuracy: – Flatness = 0.05 mm – Parallelism = 0.5 mm Since the distance between
slots is 40 mm in the 80x80 profile, the holes in the corner brackets have been positioned so that
the profile can be mounted in various positions. Since the homing settings of the axis are lost
when the motor is dismounted, it is recommended to use mounting holes that do not require the
motor to be removed. The holes 1 are not accessible, depending on the attachment position of the
motor.
The distance specification for the working space refers to the bottom edge of the gripper plate.
With the variants T1 to T4, the working space is extended downwards by the dimension H8. The
same applies to attached gripper systems, where the reference point is always shifted by the
height of the gripper system. Additional dimensions for laying the motor cables and tubing are
not taken into account in the interference contour.
Low moving mass – ideal for demanding requirements on dynamic response in three dimensions
High path accuracy with a range of path profiles, even for very dynamic operation Optional:
rotary unit as 4th axis, on request with pneumatic rotary through feed for vacuum or gage
pressure

29. 3.3.3 TECHNICAL SPECIFICATION
These are some of the technical specification for the festo delta robot
Technical data for tripod EXPT Dimensions tripod EXPT
Sizes 45
Working space diameter [mm]
at 100 mm working space height
1200
Max. acceleration 110 m/s²
Max. speed 7 m/s
Repetition accuracy ± 0.1 mm
Absolute accuracy ± 0.5 mm
Path accuracy (< 0.3 m/s) ± 0.5 mm
Effective load at max. dynamic response* 1 kg
Max. effective load 5 kg
The parallel kinematic systems of the EXPT series are high-speed systems for precise
A parallel kinematic drive concept offers extraordinarily high dynamics due to extremely low
moving masses. The system is driven by three fixed, powerful servo motors which are coupled
via a pyramidal mechanical structure of linear axes and CFRP bars..
For the parallel kinematic system, an electrical rotary module with pneumatic rotary through

30. 3.4 FANUC INDUSTRIAL
The designed to maximize speed and versatility on high-speed small part handling and picking
operations across a range of industries including food, pharmaceutical and electronics, M-3
robots are available with either 3, 4 or 6 axes. Their unique parallel-link structure and very large
work envelope makes them ideal candidates for automating demanding applications that
traditional serial-link or sacra robots are unable to perform.
A powerful four-axis design and higher wrist inertia allows the DR-3iB/8L to handle 8 kg
payloads at very high speeds.
Improved repeatability maximizes accuracy, and a hollow wrist design keeps all gripper wires
and piping tucked inside.
A large work envelope featuring a 1600 mm reach 500 mm height allows it to handle
applications that require more range such as reaching into tall boxes or handling product on wide
conveyors.

31. The operates with Fanuc’s latest R-30iB Plus controller with integrated intelligent functions
such as , Force Sensing, Robot Link, Collision Guard and Zero Down Time .
Fanuc’s new delta robot uses and line tracking software to pick randomly oriented product from
a continuous in feed conveyor.
Equipped with a multi-pick gripper, the robot picks three packages and places them into a box on
an out feed fixed station to simulate case packing.
The products re circulate and the cycle repeats. The cell features high-speed picking / packing
with product re-orientation.
Standard rating for the entire robot means it is waterproof and can withstand harsh environments,
including high temperature and high-pressure cleaning.
An unpainted surface prevents paint chips from falling and contaminating food.
No springs, stickers or pocketed fasteners eliminate the potential for bacterial growth.
Self-draining and angled surfaces prevent product or liquid collection.
Viewing window for grease detection and easy maintenance.
They has an 8 kg payload, four-axis design optimized for high speed picking and packing.
They features a 1600 mm reach (500 mm height) allowing it to easily handle applications that
require more range.
A hollow wrist enables internal cable and hose routing, minimizing wear and tear and improving
sanitation.
Food option features food grade grease and a special coating to handle acid and alkaline
disinfectants.

32. Ability to work with primary (unpackaged) or secondary (packaged) food products.
Supports Fanuc’s latest intelligent features including and force sensing.
Collision Guard detects robot collisions with external objects, minimizing damage to the part
and robot.
Robot Link controls and coordinates up to ten robots through a network exchange of robot
positional data.
3.4.1 FANUC SPECIFICATION
FANUC ROBOT 4
Controlled axes 0.5kg (std.), 1kg (option)
Max. payload at wrist φ280mm, 100mm
Motion range (X, Y) ±0.02mm
Repeatability Floor, Ceiling, Angle
Mass (without stand) R-30iB
Installation Mate/R-30iB
Matching controller / Input power capacity Mate Plus
These are some of the specification that are described in this above table which are being used in
the industrial sources

33. CONCLUSION
The delta robot system, which is currently undergoing extensive developmental testing
based on improving the accuracy and stability of the structures and also on the reliability of the
individual components, was designed on the basis of the mentioned proposals. These tests also
properly checked the roles of the control device and the company database, as well as the
theoretical information about the delta robot's working space scale and singular location

34. Bibliography
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https://www.academia.edu/4467196/Industrial_Robotics_Theory_Modelling_and_Control
Holub, Pavlík, Bradáč, Blecha, P., Kozubík, J., & Coufal. (2018, october). DELTA - robot with parallel
kinematics. Retrieved from researchgate.net/:
https://www.researchgate.net/publication/226447208_DELTA_-_Robot_with_Parallel_Kinematics
Nordin, M. H., Selvaraju, & Fathullah. (2016 ). Increasing ABB FlexPicker Robot’s Degree of Freedom
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https://www.researchgate.net/publication/308939273_Increasing_ABB_FlexPicker_Robot's_Degree_of
_Freedom_DOF_using_Flexible_End_Effector
Parallel kinematic system EXPT, tripod. (2019, november ). Retrieved from festo.com/:
https://www.festo.com/cat/en-gb_gb/data/doc_ENGB/PDF/EN/EXPT_EN.PDF
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https://www.researchgate.net/publication/298131573_Delta_robots_-
_robots_for_high_speed_manipulation
s, S. G. (2016, november). A Novel Design Of Delta Robot. Retrieved from researchgate.net/:
https://www.researchgate.net/publication/310831327_A_Novel_Design_Of_Delta_Robot