Smallest delta robot

The smallest delta robot is the Harvard milliDelta, which measures 15 x 15 x 20 millimetres (0.59 x 0.59 x 0.78 inches) and weighs only 430 milligrams. It was developed at the John A. Paulson School of Engineering and Applied Sciences at Harvard University, USA, and revealed to the public in Jan 2018.

Delta robots are pick-and-place robotic manipulators that consist of an end effector controlled by three rigid (or hinged) arms. The arms each have a motor at their base, and by working together can move the end effector to any position within a certain reach. As the actuators are all positioned away from the moving parts, the actual moving section can be very lightweight – this allows for very fast movements. They are typically used on assembly lines, placing products in packages or positioning components on circuit boards. They were developed in the 1980s in Switzerland, originally to place chocolate pralines in boxes.

The Harvard milliDelta is not only extremely small, but also exceptionally fast and precise. It is capable of moving with a precision of around 5 micrometers at speeds of up to 0.45 m/s. Possible applications for this technology include high-precision manufacturing and movement stabilisation. The latter would mean incorporating these tiny robot arms in surgical tools to compensate for the natural tremors of surgeon’s hands – reducing the chance of accidental damage.