Development and Validation of Multi-Model Miniature Delta Robot Platform for Precise Manipulation Tasks

Delta robots are fascinating parallel manipulators with unmatched speed and accuracy, used in countless applications from packaging in industrial production lines to surgical applications. In this paper, we introduce a miniature revolute 3-DOF delta robot that can be utilized for a wide range of applications. The design uses inexpensive off-the-shelf components readily available in the Egyptian market and 3D printing technology. We derive a full inverse and forward kinematics model as well as an inverse dynamics model using the principle of virtual work. Then a simple proportional-integral-derivative (PID) controller is applied for position control. We then discuss several prototypes for the miniature delta and, lastly, the model is verified by cross-referencing our results with previous literature and the fabricated prototype and its experimental results are showcased.