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Generated Robot Spec

Delta Robot

High-speed pick · 300mm workspace · 200g payload

Prompt "Delta robot for high-speed pick-and-place, 300mm workspace radius, 200g payload"
Open in Generator →
https://kinematos.polsia.app/r/delta-robot-highspeed

Spec

Delta Robot
Base Type Delta
DOF •••
End Effector vacuum gripper
Reach 0.3m
Payload 0.2kg

3D Preview — Click "Joints ▸" to pose

URDF Output

class="urdf-tag"><robot name="delta_robot">
  <!-- Fixed top plate -->
  class="urdf-tag"><link name="base_link">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.03" radius="0.18"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>

  <!-- Arm 1 (0 degrees) -->
  class="urdf-tag"><link name="upper_arm_1">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.025 0.025 0.28"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_arm1" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="upper_arm_1"/>
    class="urdf-tag"><origin xyz="0.15 0 -0.015" rpy="0 1.5708 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-0.52" upper="1.57" effort="15" velocity="8.0"/>
  class="urdf-tag"></joint>

  <!-- Arm 2 (120 degrees) -->
  class="urdf-tag"><link name="upper_arm_2">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.025 0.025 0.28"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_arm2" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="upper_arm_2"/>
    class="urdf-tag"><origin xyz="-0.075 0.130 -0.015" rpy="0 1.5708 2.094"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-0.52" upper="1.57" effort="15" velocity="8.0"/>
  class="urdf-tag"></joint>

  <!-- Arm 3 (240 degrees) -->
  class="urdf-tag"><link name="upper_arm_3">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.025 0.025 0.28"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_arm3" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="upper_arm_3"/>
    class="urdf-tag"><origin xyz="-0.075 -0.130 -0.015" rpy="0 1.5708 -2.094"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-0.52" upper="1.57" effort="15" velocity="8.0"/>
  class="urdf-tag"></joint>

  <!-- End-effector platform -->
  class="urdf-tag"><link name="ee_platform">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.02" radius="0.06"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="joint_ee" type="fixed">
    class="urdf-tag"><parent link="upper_arm_1"/>class="urdf-tag"><child link="ee_platform"/>
    class="urdf-tag"><origin xyz="0 0 -0.28" rpy="0 0 0"/>
  class="urdf-tag"></joint>

  <!-- Vacuum cup -->
  class="urdf-tag"><link name="vacuum_cup">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.025" radius="0.02"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="vacuum_joint" type="fixed">
    class="urdf-tag"><parent link="ee_platform"/>class="urdf-tag"><child link="vacuum_cup"/>
    class="urdf-tag"><origin xyz="0 0 -0.025" rpy="0 0 0"/>
  class="urdf-tag"></joint>
class="urdf-tag"></robot>