Pocketdelta robot: Difference between revisions

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{{Short description|Type of microrobot}}

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{{More footnotes needed|date=June 2023}}

The '''PocketDelta robot''' is a miniature [[industrial robot]] based on a parallel structure called “[[Delta robot]]”. 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 120x120x200mm for a workspace of 30x30x30 mm.

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The '''PocketDelta robotRobot''' is a miniature [[industrial robot]]microrobot based on a [[parallel robot|parallel structure]] called “"[[Delta robot]]”". 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 120x120x200mm120×120×200&nbsp;mm foroffering a workspace ofdiameter 30x30x30up mmto 150mm × 30mm.<ref>PocketDelta Robot - Asyril SA, http://www.asyril.ch/en/products/delta-robots.html.</ref>

==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.<br />

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.<br />

The controller is based on PC architecture with interface boards for communication with the robot [[hardware]]. The [[realtime]] [[software]] enables the generation of [[trajectories]] in the [[Cartesian space]] using a direct and [[inverse kinematics]] model of the robot.<br />

The robot integrates a web server which enables an easy communication through an [[Ethernet]] network using [[HTTP]], [[TCP]] or [[UDP]] protocol.

The controller is based on PC architecture with interface boards for communication with the robot [[computer hardware|hardware]]. The [[Real-time computing|realtime]] [[software]] enables the generation of [[trajectories]] in the [[Cartesian space]] using a direct and [[inverse kinematics]] model of the robot.<br />

The robot integrates a web server which enables an easy communication through an [[Ethernet]] network using [[HTTP]], [[Transmission Control Protocol|TCP]] or [[User Datagram Protocol|UDP]] protocol.

==History==

* 2004: The first prototype is developed at the [http://www.microRoboticLab.ti.bfh.ch microRobotics Lab] of the [http://www.hti.bfh.ch Bern University of Applied Sciences in Biel (CH)] {{Webarchive|url=https://web.archive.org/web/20050831155709/http://www.hti.bfh.ch/ |date=2005-08-31 }} as a part of a new project on "[[Microfactory]]"'s topic launched by the [http://www.csem.ch CSEM SA (CH)] in collaboration with the [[EPFL]] (CH)

* 2005: [http://www.csem.ch CSEM SA] develops a new version of the robot and introduces it as the [http://www.csem.ch/corporate/Report2005/robotics-2005.htm "world’sworld's smallest Delta robot"]

* March 2007: [http://www.csem.ch/fs/awards.htm CSEM's «Smallest Format Factory» and PocketDelta robot] win the [http://www.swisstechnology-award.ch Swiss Technology Award] and are nominated for the [http://www.hannovermesse.de/45020 Hermes Award]

* 2007: The company [http://www.asyril.com Asyril SA] was founded as a spin-off company from CSEM. The company developed the current version of the PocketDelta robot together with its sister company [http://www.cpautomation.ch CPAutomation SA] and has been commercializing the robot as a tool for highly precise micro-mechanical manipulation as well as flexible part feeding systems.

==Applications==

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

* Watch inudstryand precision mechanics

* Assembly of micro-medical devices

* [[Surface mount technology]], semiconductor and electronic parts assembly

* [[Microelectromechanical systems|MEMS]] and [[Microoptoelectromechanical systems|MOEMS]]

* [[System in package]] (SIP)

* Assembly of micro-medical devices

* [[MEMS]] and [[MOEMS]]

* [[Surface mount technology]]

* [[Biochip]]s

* ...

==External LinksReferences==

{{Reflist}}

==External links==

'''Companies and universities'''

* [http://www.asyril.com Asyril SA (CH)]

* [http://www.cpautomation.ch CPAutomation SA (CH)]

* [http://www.csem.ch CSEM SA (CH)]

* [http://www.hti.bfh.ch Bern University of Applied Sciences (CH)] {{Webarchive|url=https://web.archive.org/web/20050831155709/http://www.hti.bfh.ch/ |date=2005-08-31 }}

* [http://www.epfl.ch/ EPFL (CH)]

'''Videos'''

* [httphttps://www.youtube.com/watch?v=5_NFq-tMJlA PocketDelta robots integrated in a "Microfactory"]

* [http://www.youtube.com/watch?v=FXzBUUDp7yc PocketDelta robots integrated in a "Microfactory" (2)]

* [http://www.csem.ch/detailed/a_611-pocketdelta-solitaire2.wmv 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

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{{DEFAULTSORT:Pocketdelta Robot}}

[[Category:Micro robots]]

[[Category:Robots of Switzerland]]

[[Category:2004 robots]]

[[Category:Delta robots]]