page_title: Delta robot
section_title: History
hierarchical_section_title: Delta robot / History
caption_attribution_description: English: TOSY Industrial Robot at Automatica 2010, Munich, Germany
context_page_description: A delta robot is a type of parallel robot that consists of three arms connected to universal joints at the base. The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector, by contrast to Stewart platform that can change the orientation of its end effector.
  Delta robots have popular usage in picking and packaging in factories because they can be quite fast, some executing up to 300 picks per minute.
context_section_description: The delta robot (a parallel arm robot) was invented in the early 1980s by a research team led by professor Reymond Clavel at the École Polytechnique Fédérale de Lausanne (EPFL, Switzerland). After a visit to a chocolate maker, a team member wanted to develop a robot to place pralines in their packages. The purpose of this new type of robot was to manipulate light and small objects at a very high speed, an industrial need at that time.
  In 1987, the Swiss company Demaurex purchased a license for the delta robot and started the production of delta robots for the packaging industry. In 1991 Reymond Clavel presented his doctoral thesis 'Conception d'un robot parallèle rapide à 4 degrés de liberté', and received the golden robot award in 1999 for his work and development of the delta robot. Also in 1999, ABB Flexible Automation started selling its delta robot, the FlexPicker. By the end of 1999 delta robots were also sold by Sigpack Systems.
  In 2017, researchers from Harvard's Microrobotics Lab miniaturized it with piezoelectric actuators to 0.43 grams for 15 mm x 15 mm x 20 mm, capable of moving a 1.3g payload around a 7 cubic millimeter workspace with a 5 micrometers precision, reaching 0.45 m/s speeds with 215 m/s² accelerations and repeating patterns at 75 Hz.
caption: Commercial pick and place robots
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