The Linear Δ: Developments and Applications

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 8Language: englishTyp: PDF

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Bouri, M.; Clavel, R. (Ecole Polytechnique Fédérale de Lausanne (EPFL), Institut de Microtechnique, Laboratoire de Systèmes Robotiques, Station 9, 1015 Lausanne, Switzerland)

The robot Δ 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 Δ robots will be presented and detailed: The horizontal linear version of the Δ, the "Δ Press", the robot Δ Keops and the Δ Ibis.