Design of Delta Robot for Industrial Automation

Abstract

This paper presents the systematic design, kinematic analysis, and 3D modeling of a high-speed delta parallel robot tailored for precision pick-and-place applications. The robot is engineered to handle a payload of 200 grams and is optimized for lightweight construction and rapid motion. The base platform is designed as an equilateral triangle with a 250 mm side length, serving as a stable foundation for three servo-actuated kinematic chains. Each chain comprises a 130 mm upper arm and a 320 mm passive parallelogram linkage, enabling rigid-body motion while reducing moving mass and inertia. The end-effector, with a 50 mm radius, operates within a defined cuboidal workspace of ±200 mm in the X-Y plane and from -150 mm to +350 mm along the Z-axis, as constrained by the geometric limits and actuator rotation angles of ±60°. The mechanical structure is modeled in SolidWorks with an emphasis on manufacturability and performance. The base frame (450 × 600 mm) is fabricated from aluminum extrusion profiles for structural integrity, while the moving arms are constructed using carbon fiber rods to minimize weight. Spherical joints are incorporated at both ends of the parallelogram links to facilitate smooth and flexible motion. The presented design demonstrates an efficient integration of structural rigidity, lightweight components, and precise kinematic behavior, suitable for industrial automation and research applications

Introduction

Industrial robots, especially delta robots, are vital in modern manufacturing and Industry 5.0, emphasizing human-robot collaboration. These robots improve efficiency, precision, and sustainability across sectors like automotive, healthcare, and logistics. Delta robots, introduced in the 1980s, are high-speed parallel manipulators with three kinematic linkages enabling pure translational motion, making them ideal for industrial automation.

Research has focused on delta robot design, including kinematics, dynamics, control systems, and AI-based improvements for adaptability. However, many designs lack experimental validation in complex real-world scenarios.

The delta robot consists of a fixed triangular base with three actuated arms controlling a triangular end effector moving in 3D space. Key design parameters include the base and end effector radii, arm lengths, and joint angles, all crucial for precise kinematic calculations.

The study presents a CAD model optimized for a 200-gram payload and high-speed pick-and-place tasks. Using materials like aluminum and carbon fiber for rigidity and lightweight construction, the modeled delta robot achieves a workspace of ±200 mm in X-Y and -150 to +350 mm in Z, confirming design goals for industrial application.

Conclusion

There is an increased demand for specifically designed delta robots for pick and place operations. The work is an attempt to design a Delta robot. The design of Delta robot is carried out with a designed workspace. The forward and inverse kinematics analysis is crucial and fundamental step in understanding and controlling the movement of the Delta Robot\'s end-effector.

References

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Copyright

Copyright © 2025 Baswaraj Patil, Dr. Prashant Ambad . This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.