The PocketDelta robot is a micro robot based on a parallel structure called “Delta robot

Delta robot

A delta robot is a type of parallel robot. It consists of three arms connected to universal joints at the base.The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector...

”. It has been designed to perform micro-assembly tasks where high-speed and high-precision are needed in a reduced working space. The robot's size is 120×120×200 mm for a workspace of 30×30×30 mm.

Design

Prerequisites to high-speed and high-precision are a light, but stiff mechanical structure. Thus stiff and lightweight materials build up the moving part of the robot, whereas the heavy motors are attached to the supporting frame. The motors are attached directly to the robot arm (direct drive), eliminating backlash, friction and elasticity.

A high-level of integration reduces the size of the whole system. The mechanics, motion drives, control electronics and computing are all integrated into one compact unit. This innovative configuration simplifies its use and increases the flexibility of the robot.

The controller is based on PC architecture with interface boards for communication with the robot hardware

Hardware

Hardware is a general term for equipment such as keys, locks, hinges, latches, handles, wire, chains, plumbing supplies, tools, utensils, cutlery and machine parts. Household hardware is typically sold in hardware stores....

. The realtime

Real-time computing

In computer science, real-time computing , or reactive computing, is the study of hardware and software systems that are subject to a "real-time constraint"— e.g. operational deadlines from event to system response. Real-time programs must guarantee response within strict time constraints...

 software enables the generation of trajectories in the Cartesian space using a direct and inverse kinematics

Inverse kinematics

Inverse kinematics is a subdomain of kinematics, which is of particular interest in robotics and computer animation. In contrast to forward kinematics, which calculates the position of a body after a series of motions, inverse kinematics calculates the motions necessary to achieve a desired...

 model of the robot.

The robot integrates a web server which enables an easy communication through an Ethernet

Ethernet

Ethernet is a family of computer networking technologies for local area networks commercially introduced in 1980. Standardized in IEEE 802.3, Ethernet has largely replaced competing wired LAN technologies....

 network using HTTP, TCP

Transmission Control Protocol

The Transmission Control Protocol is one of the core protocols of the Internet Protocol Suite. TCP is one of the two original components of the suite, complementing the Internet Protocol , and therefore the entire suite is commonly referred to as TCP/IP...

 or UDP

User Datagram Protocol

The User Datagram Protocol is one of the core members of the Internet Protocol Suite, the set of network protocols used for the Internet. With UDP, computer applications can send messages, in this case referred to as datagrams, to other hosts on an Internet Protocol network without requiring...

 protocol.

History

• 2004: The first prototype is developed at the microRobotics Lab of the Bern University of Applied Sciences in Biel (CH) as a part of a new project on "Microfactory
  Microfactory
  A microfactory refers to a small dimension factory able to produce small dimension products. The term was proposed by the Mechanical Engineer Laboratory of Japan in 1990. The microfactory main advantages are to save great amount of resources like space, energy, materials and time.Due to its...
  
  "'s topic launched by the CSEM SA (CH) in collaboration with the EPFL (CH)
• 2005: CSEM SA develops a new version of the robot and introduces it as the "world’s smallest Delta robot"
• 01.03.2007: CSEM's «Smallest Format Factory» and PocketDelta robot win the Swiss Technology Award and are nominated for the Hermes Award
• 01.10.2007: CPAutomation SA achieve the developpement of the PocketDelta robot and found asyril sa, a spin-off company which commercialize the robot.

Applications

Typical application's domains for the PocketDelta robot are the following:

• Watch industry
• System in package
  System in package
  A system-in-a-package or system in package , also known as a Chip Stack MCM, is a number of integrated circuits enclosed in a single package or module. The SiP performs all or most of the functions of an electronic system, and are typically used inside a mobile phone, digital music player, etc...
  
   (SIP)
• Assembly of micro-medical devices
• MEMS
  Microelectromechanical systems
  Microelectromechanical systems is the technology of very small mechanical devices driven by electricity; it merges at the nano-scale into nanoelectromechanical systems and nanotechnology...
  
   and MOEMS
• Surface mount technology
• Biochip
  Biochip
  The development of biochips is a major thrust of the rapidly growing biotechnology industry, which encompasses a very diverse range ofresearch efforts including genomics, proteomics, and pharmaceuticals, among other activities...
  
  s

External links

Companies and universities

• asyril SA (CH)
• CPAutomation SA (CH)
• CSEM SA (CH)
• Bern University of Applied Sciences (CH)
• EPFL (CH)

Videos

• PocketDelta robots integrated in a "Microfactory"
• PocketDelta robot playing at "Solitaire game"

Publications and articles

• http://mechse.uiuc.edu/portals/courses/ME598/dk/IWMF2006/data/PDF/P3-5.pdf
• http://www.ch-innovation.ch/smartobjectDatei/ACF166B.pdf