Delta

Delta is an industrial robot that consists of three parallelogram-shaped arms connected with a base. The design of installing heavy motors in the top frame allows the robot's arms to be slender and lightweight, which enables delta robots to perform super-fast and high-precision motion. They are commonly used for pick-and-place, sorting, and packaging operations.

The following figure shows the structure of a delta robot. It uses machine coordinate system (MCS).

Parameters

All axes' units are in degrees; 0° is defined as shown in the diagram. The arrows indicate the positive direction. This applies to all three motors.

The origin of MCS is in the center of the base. The Y-axis is determined by joint 1 (first axis in the group) and this joint is in the negative direction of the Y-axis.

Parameters	Description	Unit
Inner arm length	The distance between the pivot points of the inner arm. This is the arm directly linked with the motor.	mm
Outer arm length	The distance between the pivot points of the outer arm.	mm
Displacement	The distance between the center of the base and the top pivot point of the inner arm.	mm
TCP Displacement	The distance between the center of the moving plate and the bottom pivot point of the outer arm.	mm