Some

Delta robots

The first ever Delta prototype, this robot was displayed during the EPFL open day in spring, 1986.


Horizontal linear Delta. In order to achieve an unlimited volume of work in one direction, 3 actuators are
rectilinear and parallel. The photo shows a demonstrator integrated into a laboratory table. (1993)

Versions 1 (1998) and 2 (2001) of the Delta cube robot, specifically created for ultra high-precision
applications. As with all Deltas, with three degrees of freedom in translation, these robots are capable of
enormous precision (10 nanometres).

Installation consisting of several Deltas from Enterprise Bosch Packaging Technology for the packaging of
biscuits (c. 2000)


This 3D touch probe, on a kinematic Delta, was created in partnership with the METAS (Office fdral de
mtrologie) and an LSRO2 start-up (Mecartex). In optimal metrological conditions METAS achieved
absolutely precisse measurements of 20 nanometres. (2003)




This robot called Delta Thals is made of two Deltas coupled on the same arm. Its configuration allows for
movement through space along two horizontal axes and translation in the direction of the central bar,
which always passes through the same point. This concept can be used to create part of a machine tool, or
a joystick with force feedback. For the purposes of education, it is an excellent illustration of Thales
theorem. (2004)




Kinematic installtion of Delta used as an haptic interface (return of effort). This system, created by Force
Dimension (LSRO2 start-up) can be fitted with an extra handle or with 2 or 3 rotating axes. (2004)




Armed with the concept of the Delta cube and with a set-up similar to the basic Delta, this machine of Agie
Charmilles, also imagined and developed by LSRO2, has a very high level of precision (around 50
nanometres). It is aimed at electrical discharge micromachining. (2005)


Delat Keops : this robot is characterised by the pyramidal disposition of its rectilinear supports. Compared
to is fore-runners, it has a much greater work volume however, it is less rigid. The computer mouse on
the table gives an idea of the size of the robot. (2006)

The Delta Ibis is borne by two vertical linear axes and a rotating arm with a horizontal axis. This concept
allows for a low assembly cost and is easily integrated into production lines and microengineering
assemblies. (2008)

Linear vertical Delta. In this case the three actuators are set on the edges of a triangular prism. This robot
was created for the manufacture of split pins and rubies in the watchmaking industry. It is capable of
creating component parts with a precision of 5 microns with forces varying from 50 to 200 N. (2008)



Model of a linear vertical Delta with low width and low cost. It is less precise than the precedent. It can
therefore be set up around a standard rotating table in precision industry. (2008)


Prototype of Delta for direct action : this robot capable of accelerations greater than 90g. (2011)





Prototype of the Delta robot for direct intervention, which was presented to Interpack in Dsseldorf, in
May 2011. Dr Mohamed Bouri, on the right, is the control specialist for these parallel machines at LSRO2.
(2011)