A Palletising Robot Based on the DELTA Robotic Mechanism

A design of palletizing robot based on the DELTA robotic mechanism is presented in the paper. The robot has high rigidity, high accuracy, and low mobile mass relative to an equivalent serial robot. It is suitable to be used for rapid palletizing and transfer operating. The design could have some other potential applications. The singularities and inverse kinematic solution of the DELTA robot are discussed.