Patent ID: 8621953

Claim:
A delta robot, comprising: a stationary base plate; a movable parallel plate; at least three drives fastened onto said stationary base plate, each drive of said at least three drives being connected to at least one arm with at least one said arm being connected at a first end thereof via a first ball joint to rods running parallel to each other and at a second end thereof being connected to a second ball joint having said movable parallel plate, said first ball joint and said second ball joint each having a ball segment head and a hollow ball segment complementary thereto with said first ball joint and said second ball joint adjoining each other on said rods and being oriented mirror-symmetrically to each other, each said hollow ball segment being pressed onto an associated said ball segment head with at least one elastic element being tensioned between said rods, wherein a center point of at least one said ball segment head is displaceable relative to a longitudinal support axis of said rod that is connected to one said ball joint with a direction of displacement pointing away from said hollow ball segment and with an amount of displacement always being smaller than a radius of said ball segment head.