Pocketdelta Robot

Please note that the content of this book primarily consists of articles available from Wikipedia or other free sources online. The PocketDelta robot is a micro robot based on a parallel structure called "Delta robot". It has been designed to perform micro-assembly tasks where high-speed and high-precision are needed in a reduced working space. The robot's size is 120×120×200 mm for a workspace of 30×30×30 mm. Prerequisites to high-speed and high-precision are a light, but stiff mechanical structure. Thus stiff and lightweight materials build up the moving part of the robot, whereas the heavy motors are attached to the supporting frame. The motors are attached directly to the robot arm (direct drive), eliminating backlash, friction and elasticity. A high-level of integration reduces the size of the whole system. The mechanics, motion drives, control electronics and computing are all integrated into one compact unit. This innovative configuration simplifies its use and increases the flexibility of the robot.