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398001

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

Article

Last updated: 21 Dec 2024

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Subjects

-

Tags

Mechatronics

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.

DOI

10.21608/astj.2024.345254.1028

Keywords

Industrial automation, Robotics innovation, Parallel and serial kinematics, Parallel robotics

Authors

First Name

Mohamed

Last Name

Elghitany

MiddleName

Nabil

Affiliation

Mechatronics Engineering Department, Faculty of Engineering, Ain Shams University, Cairo, Egypt

Email

m.nabil@eng.asu.edu.eg

City

-

Orcid

0009-0005-0624-1838

First Name

Asser

Last Name

Ahmed

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

192000258@ecu.edu.eg

City

-

Orcid

-

First Name

Dina

Last Name

Zaki

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

dinazaki435@gamail.com

City

-

Orcid

-

First Name

Dohaa

Last Name

Behhit

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

192000252@ecu.edu.eg

City

-

Orcid

-

First Name

Hagar

Last Name

Hosni

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

1920000226@ecu.edu.eg

City

-

Orcid

-

First Name

Hashem

Last Name

Nour

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

192000174@ecu.edu.eg

City

-

Orcid

-

First Name

Menna

Last Name

Hassan

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

192000009@ecu.edu.eg

City

-

Orcid

-

First Name

Nada

Last Name

Ali

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

192000085@ecu.edu.eg

City

-

Orcid

-

First Name

Noha

Last Name

Khalaf

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

192000227@ecu.edu.eg

City

-

Orcid

-

First Name

Rober

Last Name

Sobhy

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

192000056@ecu.edu.eg

City

-

Orcid

-

First Name

Zeyad

Last Name

Alaaeldin

MiddleName

-

Affiliation

Mechatronics Engineering Department, Faculty of Engineering and Technology, Egyptian Chinese University, Cairo, Egypt

Email

492400677@ecu.edu.eg

City

-

Orcid

-

First Name

Mohamed

Last Name

Ahmed

MiddleName

Ismail

Affiliation

RF Wireless and Mobile Systems Laboratory, Microstrip Department, Electronics Research Institute, Cairo, Egypt

Email

miahmed@eri.sci.eg

City

Cairo

Orcid

0000-0001-7485-9406

Volume

1

Article Issue

2

Related Issue

51917

Issue Date

2024-12-01

Receive Date

2024-11-25

Publish Date

2024-12-20

Page Start

1

Page End

38

Online ISSN

3009-7614

Article File

ASTJ_Volume 1_Issue 2_Pages 1-38.pdf

PDF . 1.4MB

Link

https://astj.journals.ekb.eg/article_398001.html

Detail API

https://astj.journals.ekb.eg/service?article_code=398001

Order

398,001

Type

Review Paper

Type Code

3,383

Publication Type

Journal

Publication Title

Advanced Sciences and Technology Journal

Publication Link

https://astj.journals.ekb.eg/

MainTitle

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

Details

Type

Article

Created At

21 Dec 2024