Advancements in Design, Kinematics, and Control: A Comprehensive Review of Delta Robot Research

Elghitany, Mohamed Nabil; Ahmed, Asser; Zaki, Dina; Behhit, Dohaa; Hosni, Hagar; Nour, Hashem; Hassan, Menna; Ali, Nada; Khalaf, Noha; Sobhy, Rober; Alaaeldin, Zeyad; Ahmed, Mohamed Ismail

doi:10.21608/astj.2024.345254.1028

	Advancements in Design, Kinematics, and Control: A Comprehensive Review of Delta Robot Research
Advanced Sciences and Technology Journal
Volume 1, Issue 2, December 2024, Page 1-38 PDF (1.32 MB)
Document Type: Review Article
DOI: 10.21608/astj.2024.345254.1028
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Authors
Mohamed Nabil Elghitany ¹; Asser Ahmed²; Dina Zaki²; Dohaa Behhit²; Hagar Hosni²; Hashem Nour²; Menna Hassan²; Nada Ali²; Noha Khalaf²; Rober Sobhy²; Zeyad Alaaeldin²; Mohamed Ismail Ahmed ³
¹Mechatronics Engineering Department, Faculty of Engineering, Ain Shams University, Cairo, Egypt
²Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt
³RF Wireless and Mobile Systems Laboratory, Microstrip Department, Electronics Research Institute, Cairo, Egypt
Abstract
A delta robot is a type of parallel robot that consists of three arms connected to universal joints at the base. Delta Robot is designed for high-speed, precision tasks, typically used in applications like pick-and-place operations, assembly, and packaging. This paper conducts the evolution, design, kinematics, and control systems of Delta robots, highlighting their advancements and industrial applications. Starting with their inception in the 1980s, the paper examines the pioneering design by Raymond Clavel, which revolutionized high-speed, precise pick-and-place operations through a unique parallel mechanism. Subsequent iterations of Delta robots are discussed, including innovations such as inverted configurations, linear Delta robots, modular designs, and miniaturized versions for microscale applications. The review delves into various control strategies ranging from traditional PID and sliding mode control to advanced neural network-based systems addressing challenges like singularities, workspace optimization, and energy efficiency. Applications in fields such as food packaging, pharmaceuticals, and high-precision assembly underscore the robot's versatility. The study concludes with insights into emerging trends, such as adaptive reconfigurable designs and enhanced motion planning, paving the way for future innovations in robotic automation.
Keywords
Industrial automation; Robotics innovation; Parallel and serial kinematics; Parallel robotics


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