The Linear Delta: Developments and Applications

The robot Delta is a 3 degrees of freedom well known parallel structure allowing the 3 natural translations X, Y and Z. It exists with either rotational or linear actuated joints. In this paper we will point out the advantages of the kinematics based on linear actuation and present different innovative robots studied, developed and industrialized with the LSRO (Laboratoire de Systèmes Robotiques). Each of them was designed to be tailored to industrial applications. These structures consist of fast pick-and-place robots as well as high stiffness machines for insertion and tool machining operations. To deal with this, each robot will be emphasized through its specifications and the application it has been developed for. The following Delta robots will be presented and detailed: The horizontal linear version of the Delta, the "Delta Press", the robot Delta Keops and the Delta Ibis.