Subject:
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Delta Robot Information
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 30 Jul 2002 18:04:18 GMT
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Viewed:
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703 times
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First off, let me say that my respect for Iain has never been greater. He
has got to be the resident expert in robotics, and really pushes the
envelope as to what can be built out of Lego. He builds models of insane
robots that I have never even heard of. The Delta robot was no exception. If
any of you are interested in some really inspiring robots, check out the
links here. The video on the ABB site is especially cool! It shows a delta
robot used for extremely high speed pick and place applications. But,
Parallel mechanisms are also used in machining centers. The benefits in each
case are the same: lighter moving parts allows for higher acceleration and
higher rigidity. Anyway, back to Lego... What Doug Carlson has done so well
is develop Iains Lego Delta robot further. He has built a really nice, solid
structure for it, and has actuated the parallel linkages in a different way.
The ball joints and original concept come from Iains robot though.
Thanks for all of the info!
Rob
In lugnet.robotics, Iain Hendry writes:
> That's not really right - there are no typical "X Y Z" axis designations
> when dealing with this style of robot.
>
> The robot Doug has modeled so elegantly is one possible configuration of a
> parallel kinematic machine (PKM), in this instance it is most often known
> simply as a Delta Robot. It was conceived Reymond Clavel in Switzerland in
> the early 1980's.
>
> While others have used the term "pick and place" to describe it in other
> posts, that is not really a fair name for the robot. Typically, "Pick and
> Place" is a term used for dedicated, two-position picking and placing (often
> done with pneumatics). The delta robot can position it's end effector to any
> position inside a volume defined by the union of three intersecting torii,
> and very quickly at that. Because of the lightweight members used that are
> actually moving, there is very little inertia to the entire frame.
>
> A while ago, I had posted a terrible amount of information on this robot,
> but at the time I don't believe anyone was really intersted.
>
> http://news.lugnet.com/org/ca/rtltoronto/?n=2417
>
> Here is a video clip showing ABB's further development of the robot Clavel
> invented:
>
> http://www.abb.com/GLOBAL/seapr/SEAPR035.NSF/viewunid/7B9380B44452A897C1256B
> 1100562E6E/$file/Flexpick.mpg
>
> I hope that plays. Of historical note it should be mentioned that the Swiss
> firm Demaurex was purely responsible for the advancement of this robot into
> industry. Demaurex is now part of the SIG group.
>
> There are many ways to actuate the three parallelograms, you can do it with
> linear actuators or rotating ones.
>
> For more information on parallel machines, I suggest a visit to the info
> centre:
>
> http://www.parallemic.org
>
> Iain (builder of Tijs -
> http://peach.mie.utoronto.ca/events/lego/lego-022302-index.html )
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Message has 1 Reply:
 | | Re: Delta Robot Information
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| Just want to add my thanks to Iain as well! Both for the wonderful description and links as well as the inspiration for building a Delta robot in the first place. 'Tijs' was just so cool that I had to try my hand at building a Delta robot too. :-) (...) (22 years ago, 30-Jul-02, to lugnet.robotics)
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Message is in Reply To:
| | Re: My Pictures From Brickfest
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| "Rob Doucette" <lego@nospam.doucettenet.com> wrote in message news:Gzu367.59n@lugnet.com... (...) device (...) type (...) That's not really right - there are no typical "X Y Z" axis designations when dealing with this style of robot. The robot Doug (...) (22 years ago, 27-Jul-02, to lugnet.robotics)
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