Delta Robot

Main goals of this project included: design and optimization of the mechanical construction of the robot and its final assembly; solving the forward and inverse kinematics equations and calculation of the working area; simulation of joint trajectories for linear movement of the end effector; writing kinematics functions in C and their implementation in the control system. The project was carried out successfully, resulting in a working prototype. The robot is capable of manipulating objects at a speed of 2m/s with an efficiency up to 75 cycles per minute (25/305/25 test).

About the project


Project Details


Working Area

1. Aluminium profile (Bosch Rexroth, size: 30x30 mm)

2. Motor mount (made on hobby CNC)

3. Stepper Motor (1,9Nm, 4,2A Parallel, Bipolar, Nema23)

4. HTD3M timing belt

5. Rotary Axis adapter (for future development)

6. Belt pulley

7. Mounting plate

8. Mounting bracket

9. Linear rail

10. linear carriage

11. Arm

12. Platform with end effector

Shape of the working area calculated using only the mathematical properties of the construction

Shape of the working area calculated using the mathematical properties of the construction and its mechanical limitations

Performance Testing

The 25/305/25 Test was performed using a working prototype. This metod of measuring the efficiency is comonly used in the industry. (ABB, Fanuc,Mitsubishi, Festo)


Obtained result is equal to 75 cycles per minute.

It is 50% of the efficiency of the Festo Tripod manipulator which offers 150 cycles per minute in the same test.




Jakub Kaminski


Poznan, Poland