Design Optimization of Delta Robots, the History of a Japanese-German Research Collaboration

Abstract

This article presents the cooperation between the Institute of Mechanism Theory, Machine Dynamics and Robotics (RWTH Aachen University) and the Mechanical Systems Design Laboratory (Tokyo Institute of Technology), whose fundamental idea is the exchange between students and scientific staff in the course of international research relations. Within this cooperation, three consecutive research projects, all funded by the DAAD PAJAKO program, haven been established. The first two projects focused on methods for the kinematics, dynamics, and stiffness optimization of Delta robots, whereas the third and ongoing project is dedicated to the dynamic balancing of Delta robots, to be able to use their full potential in practical applications.