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The PocketDelta Robot is a micro 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 120×120×200 mm offering a workspace diameter up to 150mm × 30mm.〔PocketDelta Robot - Asyril SA, http://www.asyril.ch/en/products/delta-robots.html.〕 ==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. The realtime software enables the generation of trajectories in the Cartesian space using a direct and inverse kinematics model of the robot. The robot integrates a web server which enables an easy communication through an Ethernet network using HTTP, TCP or UDP protocol. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Pocketdelta robot」の詳細全文を読む スポンサード リンク
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