---
publication_id: "OT-2026-000000153"
title: "Collaborative Delta robot"
published_at: "2026-09-15T19:02:32.935832Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000153"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1676"
  - "b25j15/06"
  - "b25j15/0616"
  - "b25j5/00"
  - "b25j5/007"
  - "b25j9/16"
---

# Collaborative Delta robot

## Abstract

The present invention relates to a collaborative Delta robot ( 1 ) comprising a stationary base ( 2 ) and a mobile basket ( 3 ) connected to the base ( 2 ) by means of three kinematic chains ( 4, 5, 6 ), where each kinematic chain is driven by its own motor ( 7 ), characterized in that the robot comprises first means ( 8 ) for detecting the presence of an object or a living being in a first safety zone around the robot, in that the robot comprises means for detecting contact between one of the kinematic chains ( 4, 5, 6 ) or the basket ( 3 ) with an object or living being, and in that the robot comprises a motor control unit configured to reduce the speed of the motors from a first speed to a second speed when an object or living being is detected in the first safety zone and to stop the motors when contact between a kinematic chain ( 4, 5, 6 ) or the basket ( 3 ) with an object or living being is detected.