Dynamic Balancing of Clavel’s Delta Robot

V. van der Wijk, Justus Laurens Herder

Research output: Chapter in Book/Report/Conference proceedingChapterAcademic

39 Citations (Scopus)
1 Downloads (Pure)


The Delta robot has shown to be a useful device in many applications. Due to large accelerations however, vibrations can decrease the accuracy and performance considerably. Instead of common techniques to reduce vibrations such as damping or including waiting times in the motion cycle, this article shows how the Delta robot can be dynamically balanced in a practical way by which all vibrations are eliminated. Because of its specific architecture, the Delta robot can be force balanced with only three counter-masses and two additional links. Moment balancing can be achieved by active actuation of three additional rotating inertias
Original languageUndefined
Title of host publicationComputational Kinematics: Proceedings of the 5th International Workshop on Computational Kinematics
EditorsAndres Kecskemethy, Andreas Müller
ISBN (Print)9783642019463
Publication statusPublished - 2009
Event5th International Workshop on Computational Kinematics - Duisburg
Duration: 6 May 20098 May 2009

Publication series



Conference5th International Workshop on Computational Kinematics
Other6-8 May 2009


  • IR-90594

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