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Kings College London

Computer Aided Design (CAD): 7CCSMCAD

(Individual Project)
Submission Dead Line: Tuesday, 28 May 2013
Delta robots
Delta robots are the most famous of parallel mechanisms. They consist of three legs where each
leg has one rotary joint and two universal joints. Figure 1 demonstrates the schematics of the
mechanism. Mechanism has three degrees of freedom which can be applied to the top rotary

Figure 1, Delta robot schematic [1]

Due to the relative simplicity, reliability and capability of performing the tasks at high speeds and
accuracy, delta robots are used extensively in handling tasks. The inverse and forward kinematics
of delta robots is relatively simple which allow very low cycle times and provides capability of
trajectory planning with high accuracy.
Other interesting properties of the delta robot are separation of the power generation and the
moving legs of the robot, symmetry and relatively low weight of the platform and the legs.
However, as any engineering product, there are disadvantages associated with the delta robots.
The main drawback of the delta robot is very limited workspace of the robot. Another drawback is
limited payload of the robot. Thus applications of the delta robot are limited to pick and places of
light products on a limited range of motion.
However, it is possible to place the robot on a one or two dimensional linear rail and extend the
workspace of the robot.


You are required to submit a design report for a delta robot adaptation for an
application of your choice.

Your delta robot should differ from the current designs as it needs to be adapted to the
specific application. This adaptation can be in the exterior of the robot, the dimension,
design of the end effecter, etc.
Your design report should be from concept to detail including design methods used
and a fully animated assembly model.
You may use SoildWorks to demonstrate the strengths/weaknesses of your design as
you see fit.
The design report is aimed at a 'design manager'. As such, one of the marking criteria
will be the format and layout.
You are required to submit detailed design drawing and animation using SolidWorks
or any CAD software of your choice for the designated mechanism.
A report with all the details specified is to be submitted to identify your contributions,
the results, the reflection and the knowledge.
The course work is to be completed individually.

[1] Clavel, R.: 1986, Device for displacing and positioning an element in space, WIPO Patent,
WO 87/03528