Delta roboti – roboti za rukovanje velikom brzinom

Delta roboti Mechanical systems that allow a rigid body (called endeffector) to move with respect to a fixed base play a very important role in numerous applications. A rigid body in space can move in various ways, in translation or rotary motion. These are called its degrees of freedom (DOF). The position and the orientation of the end-effector (called its pose) can be described by its generalized coordinates. As soon as it is possible to control several degrees of freedom of the end-effector via a mechanical system, this system can be called robot [1, 3]. From this aspect, consisting of three subsystems: sensorial, control and decision-making, and actuation subsystem. The sensorial subsystem establishes a feedback with the environment. The control and decision-making subsystem represents the 'thinking' centre of the robot, its 'brain'. Together, the sensorial and control subsystems make up a cognitive system. Finally, the actuation subsystem is used to affect the environment, making such an impact on it that the environment changes [2]. It was concluded that the serial robots are inappropriate for tasks requiring either the manipulation of heavy loads, or a good positioning accuracy, or to work with high dynamic parameters.