{
  "abstract": "This disclosure details a mechanism for extending the effective payload capacity and preserving acceleration characteristics of a Delta robot by counterweighting its upper arm linkage. Delta robots typically experience a significant reduction in achievable acceleration with increasing payload due to the inherent inertia of their parallel kinematic arms. The described arrangement introduces a passive counterweight system dynamically coupled to each upper arm, offsetting a substantial portion of the arm's inertial mass and a fraction of the payload. This method aims to maintain higher dynamic performance across a broader payload range, impacting cycle time and reachable workspace.",
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  "keywords": [
    "delta robot",
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  "title": "Delta Robot Payload Extension with Upper Arm Linkage Counterweighting",
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