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Delta Robot is one of Parallel Robot: Parallel robot uses several serial chains to support a single platform, or end-effector. The end effector (hand) of this linkage (arm) is directly connected to its base by a number of separate and independent linkages working simultaneously. A Parallel robot arm is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement. The off-axis flexibility of a joint is also constrained by the effect of the other chains. Errors in one chain's positioning are averaged in conjunction with the others. A further advantage of the Parallel robot arm is that the heavy actuators may often be centrally mounted on a single base platform. This reduction in mass along the arm permits a lighter arm construction, thus lighter actuators and faster movements. This centralisation of mass also reduces the robot's overall moment of inertia. A drawback of Parallel robot arm is their limited work space. Another drawback of Parallel robot arm is their nonlinear behavior: the command which is needed for getting a linear or a circular movement of the end-effector depends dramatically on the location in the work space and does not vary linearly during the movement.
6 Axes Robotic Arm is a Serial Robot Arm. Serial robot arm is designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. It has a large workspace with respect to the size of the robot and the floor space it occupies. However, as Serial robot arm is an open kinematic structure, it has the low stiffness. And its errors are accumulated and amplified from link to link. It also needs a perfect counterbalance design to carry and move the large weight of most of the actuators. 1. Yellow: this servo motor is the first axes. It rotates from -180 degree to +180 degree in the horizonal plane. 2. Green: this motor is the second axes. It rotates from -45 degree to +30 degree in the vertical plane to make the robot arm move forward or backward. 3. Blue: this motor is the third axes. It rotates from -15 degree to +30 degree in the vertical plane to make the robot arm move upward or downward. 4. Red: this servo motor is the fourth axes. It rotates from 0 degree to 360 degree to make the robot arm spin. 5. Orange: this servo motor is the fifth axes. It rotates from -90 degree to +90 degree in the vertical plane to swing the robot wrist. 6. Purple: this servo motor is the sixth axes. It rotates from 0 degree to 360 degree to make the robot wrist spin. Counterbalance There are four ways of counterbalance: 1) Counterweight, 2) Springs, 3) Balanced links and 4) Pneumatic cylinder. A gyroscope can be used to sense the tile of the robot or droid, the controller then predict trends of unbalance, and adjust counterbalance system. ARM Controller Camellia Café ARM Controller controls 8 Servo Motors or DC Motors. Just enjoy it! Camellia Café http://www.camellia.xin