Gallery of robots - prof. Reymond Clavel

Some Delta robots

The first ever Delta prototype, this robot was displayed during the EPFL open day in spring, 1986.

Horizontal linear Delta. In order to achieve an unlimited volume of work in one direction, 3 actuators are rectilinear and parallel. The photo shows a demonstrator integrated into a laboratory table. (1993)

Versions 1 (1998) and 2 (2001) of the Delta cube robot, specifically created for ultra high-­‐precision applications. As with all Deltas, with three degrees of freedom in translation, these robots are capable of enormous precision (10 nanometres).

Installation consisting of several Deltas from Enterprise Bosch Packaging Technology for the packaging of biscuits (c. 2000)

This 3D touch probe, on a kinematic Delta, was created in partnership with the METAS (Office fédéral de métrologie) and an LSRO2 start-­‐up (Mecartex). In optimal metrological conditions METAS achieved absolutely precisse measurements of 20 nanometres. (2003)

This robot called Delta Thalès is made of two Deltas coupled on the same arm. Its configuration allows for movement through space along two horizontal axes and translation in the direction of the central bar, which always passes through the same point. This concept can be used to create part of a machine tool, or a joystick with force feedback. For the purposes of education, it is an excellent illustration of Thales’ theorem. (2004)

Kinematic installtion of Delta used as an haptic interface (return of effort). This system, created by Force Dimension (LSRO2 start-­‐up) can be fitted with an extra handle or with 2 or 3 rotating axes. (2004)

Armed with the concept of the Delta cube and with a set-­‐up similar to the basic Delta, this machine of Agie Charmilles, also imagined and developed by LSRO2, has a very high level of precision (around 50 nanometres). It is aimed at electrical discharge micromachining. (2005)

Delat Keops : this robot is characterised by the pyramidal disposition of its rectilinear supports. Compared to is fore-­‐runners, it has a much greater work volume – however, it is less rigid. The computer mouse on the table gives an idea of the size of the robot. (2006)

The Delta Ibis is borne by two vertical linear axes and a rotating arm with a horizontal axis. This concept allows for a low assembly cost and is easily integrated into production lines and microengineering assemblies. (2008)

Linear vertical Delta. In this case the three actuators are set on the edges of a triangular prism. This robot was created for the manufacture of split pins and rubies in the watchmaking industry. It is capable of creating component parts with a precision of 5 microns with forces varying from 50 to 200 N. (2008)

Model of a linear vertical Delta with low width and low cost. It is less precise than the precedent. It can therefore be set up around a standard rotating table in precision industry. (2008)

Prototype of Delta for direct action : this robot capable of accelerations greater than 90g. (2011)

Prototype of the Delta robot for direct intervention, which was presented to Interpack in Düsseldorf, in May 2011. Dr Mohamed Bouri, on the right, is the control specialist for these parallel machines at LSRO2.

(2011)