Lagrangian Based Dynamic Analyses of Delta Robots with Serial-Parallel Architecture

30 years after the initial concepts, commercial Delta and Delta-like robots serve a niche market for high-speed pick-and-place applications. Expired patents and new fields of applications have led to increased research and development in recent years. The increased scientific focus on extended architectures with additional rotational dof resulted in different serial-parallel hybrid as well as fully-parallel designs. These concepts meet the industrial demands for novel complex handling tasks, increased payload capacities, and hygienic designs. This contribution presents kinematic and energy-based dynamic analyses for the classical Delta structure and six different extensions. Based on that, the required computation times and the influences of inertial effects are investigated.