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

摘要

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.