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It is a delta robot but in 2 dimensions. It has 4 moving links so can be called a 5 bar mechanism. It uses the Inverse Kinematics method.

This is a 2d delta robot that has 4 moving links and 1 stationary link. This makes it a 5 bar mechanism. It is powered by two servomotors. The two servo motors are able to move the links such that the center point of the link can trace/draw any shape.

I got the inspiration from the 3d delta robot IRB 360 Flexipicker from ABB. This robot from ABB had 3 motors so, it can work in 3 dimensions. I didn’t have the proper hardware and motors. So, I decided to continue it in 2 dimensions with only 2 motors.”

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