⬡ PORTFOLIO — SIMULATION
Delta Robot Parallel Kinematic Robot
3-DOF delta parallel robot. Real-time joint angle calculation with analytical inverse kinematics. CIRCLE and PICK/PLACE modes, TCP trail, 3D perspective projection.
PLC Designer IK Pick&Place 3D Sim Lenze i750 Lenze c520 Delta FAST Robotik
DELTA-3 / PICK & PLACE v2.4 | Parallel Robot Controller
● RUNNING
▸ TCP POSITION
X 0.0 mm
Y 0.0 mm
Z 0.0 mm
▸ MOTOR ANGLES
J1 0.0°
J2 0.0°
J3 0.0°
▸ SYSTEM
STATUS RUN
CYCLE 0
TCP V 0 mm/s
▸ SERVOS
ARM-1 OK
ARM-2 OK
ARM-3 OK
SPEED 1.0×
IK: Analytical Solution · 3-DOF
What Does It Do?
- ▸ 3-servo parallel kinematic structure with high rigidity
- ▸ Analytical IK computes joint angles in under 1 ms
- ▸ High-speed pick & place: 0.3–0.6 sec/cycle
- ▸ ±0.05 mm positioning accuracy
How Does It Work?
- ▸ TCP target coordinates fed into 3 independent IK equations
- ▸ Per-axis geometric solution: cos/acos closed-form
- ▸ Position commands to Lenze i750 drives over EtherCAT
- ▸ Lenze FAST Robotic motion block library
Industrial Use Cases
- ⬡ Food & pharmaceutical packaging lines
- ⬡ Electronics SMT pick & place systems
- ⬡ Automotive part sorting & placement
- ⬡ Laboratory automation
- ⬡ High-speed vision-guided sorting
// Portal Robot vs. Delta (Parallel) Robot
⚠ Portal robot: joints are chained one after another; each motor carries itself plus all downstream joints, resulting in high inertia and limited speed. In a Delta (parallel) structure all motors mount on a fixed base and share the load — inertia is very low, giving superior speed and repeatability.
| Criterion | ❌ Portal Robot | ✅ Delta (Parallel) |
|---|---|---|
| Cycle Time | 1.2–2.5 sec | ⚡ 0.3–0.6 sec |
| Positioning Accuracy | ±0.5 mm | ±0.05 mm |
| Installation and Space Efficiency | Large Area | Small Area |
| IK Solve | Iterative (slow) | Analytical (<1 ms) |
| Stiffness | Low (serial) | High (parallel) |
// Typical Application Parameters
| Parameter | Value | Unit / Note |
|---|---|---|
| Base radius | 100 | mm |
| Platform radius | 30 | mm |
| Upper arm | 80 | mm |
| Forearm | 160 | mm |
| Workspace | Ø110 | mm |
| Servo drive | Lenze i750 | 3-axis |
| Controller | Lenze c520 | Motion PLC |
| Software | PLC Designer | FAST Robotik |
| EtherCAT | 1 | ms |
// Cycle Phases (Pick/Place)
HOME
Robot waits at home position
PICK↓
Descends to pick point, grips part
PICK↑
Lifts up with the gripped part
MOVE
Moves part to place position
PLACE↓
Descends to place point, releases part
RETURN
Returns to HOME position