A Self-Balancing Omni-Delta Robot

In this project, a modified Delta parallel robot is designed in which the number of passive joints is reduced, and an active joint is added to the hardware. To the best of our knowledge, this configuration seems to be the first of its kind.

In this project, kinematic and dynamic analyses will be performed. Active compliance control and collision anticipation algorithms will also be developed for this new design. This configuration will be used as the “waist” of an omni-directional, self-balancing service robot. Methodology and novelty of approach and/or application

This new Delta robot design along with an omni-wheel mobile robot composes an omni-platform service and human interaction robot. The proposed system would serve as a personal service robot that can assist people in their daily living activities and health care issues.

This configuration could also be considered as a self-balancing robot. In this concept, the center of mass of the robot is changed based on the estimated/predicted disturbance applied to the system. So, the robot reacts such that it reduces the effect of disturbance.

Faculty Supervisor:

Dr. Kenneth Mcisaac


Mehdi Delrobaei


CrossWing Inc.


Engineering - computer / electrical


Life sciences


Western University



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