On the Design and Performance of Delta Robot Platform with Compliant Revolute Joint

Delta robots are parallel robots consisting of three arms connected to universal joints at the base and at the end -effector. They are known for their high -speed and precise movement, making them ideal for tasks requiring rapid pick-and-place operations, since the orientation of the end-effector is constant and usually parallel to the work surface. The design features lightweight arms and a fixed base, with intermediate joints consisting of universal joints or spherical joints, which add inertia and backlash to the system. This paper introduces a Delta robot with the use of compliant joints to minimize the number of components. The new compliant joints replicate a universal joint, reduce the inertia of the system, are easy to manufacture, and minimize backlash. The added stiffness alters the precision of the robot, but the stored potential energy in the joint increases the dynamics of the robot, which makes the robot suitable for tasks that requires speed instead of accurate positioning.