← Robot list · Delta robot page
Turn the robot with the mouse or your finger. Click an axis (a coloured circle or a card) to light up its ring and its axis and to read its description, press X-ray to look inside at the motors, gearboxes, controller and cables, and move each joint with its slider.
The motor, fixed on the top plate, swings the upper arm up and down. All three motors are fixed on the base: the moving parts are very light, which is why the Delta is so fast.
Same as arm 1, 120° further around the base. The three legs are solved independently.
Same, at 240°. When the three motors turn together by the same angle, the effector goes straight up or down.
Two parallel rods per arm, with ball joints at both ends. They keep the effector parallel to the top plate: it never tilts. These joints have no motor.
The small moving platform with the tool (here a suction cup). It has 3 degrees of freedom: x, y and z. An optional fourth motor in the centre can turn the tool.
The motor angles θ are measured as on the Delta page: 0° when the upper arm is horizontal, positive downward. The effector position is computed live from the three angles (forward kinematics). The model is simplified: the real inside depends on the make.