| Reach |
911 mm - sufficient reach for this operation. |
1130 mm - insufficient vertical reach for this operation. |
| How many degrees of freedom |
Six axes - sufficient for pick and place items |
Six axes - sufficient for pick and place items |
| Payload |
7 kg - sufficient payload capacity. Could not use 3 kg variant as it does not have sufficient reach. |
6 Kg - sufficient payload capacity. |
| Repeatability/accuracy |
±.01 mm - sufficient for this operation. |
±.1 mm - sufficient for this operation. |
| Speed |
[J1:370 °/sec, J2:310 °/sec, J3:410 °/sec, J4:550 °/sec, J5:545 °/sec, J6:1000 °/sec] For sustained operations, LR Mate is slower than Delta. |
[J4:3500 °/sec] Delta is the fastest robot - Overshoot due to high speeds can imply that speeds lower than theoretical maximum are used. |
| Duty Cycle |
For long term sustained operation, to maintain reliability, Motor Duty (overheat) and reducer life (Gear wear and tear) need to be managed. Robotic simulation software, such as ROBOGUIDE can be used to determine the robot speed and rest periods to maintain reliable performance over the life time of the robot |
Delta robots are designed for continuous operations and therefore motor Duty and gear life is not a prominent consideration. |
| Cost |
Moderately Low - One of the lowest cost robot model |
High - Delta robots are significantly costlier than small 6-axis articulated robots like the LRMate200iD/7L. The structure holding the Delta robot can add upto 20% of the cost of the robot. |
| Footprint |
Small |
Large - Delta robots have an exclusive work space that cannot be shared |
| Non robotic system components |
Mounting pedestals are relatively cheap |
The overhead structure of a Delta robot can add upto 20% of robot cost. |
