Delta robot parallel manipulator

3-DOF parallel manipulator simulated in ROS 2 Jazzy with RViz and a browser dashboard

Built during the RWTH Aachen & Universal Robots Executive Certificate program (July 2025). The delta robot is a 3-degree-of-freedom parallel mechanism — three motors at the base move a shared end-effector through coordinated arc trajectories.

RViz visualization of the 3-DOF delta robot, with red, green, and blue world-frame axes above the three actuated arms and the shared end-effector platform
The delta robot in RViz: three actuated arms driving a shared end-effector, with the RGB world-frame axes overhead.
View the code on GitHub

The project has since grown into Delta_ROS2, a full ROS 2 Jazzy simulation workspace. It implements both forward and inverse kinematics — the end-effector can be commanded in joint space or Cartesian space — and drives the mechanism through coordinated arc trajectories. The stack is split into clean packages: a description package (URDF, meshes, RViz, launch files), a serial package exposing an inverse-kinematics service, joint-state publisher, trajectory action server, and a pseudo-Arduino emulator that stands in for the firmware, and a ui package — a FastAPI + React browser dashboard for live state, waypoint sequences, and demo presets. RViz remains the full ROS visualization path.

Revived in 2026 after Armando nudged me back to it. The delta-robot physics, the inverse-kinematics math, and the Arduino firmware / pseudo-Arduino emulation were developed together with Armando Rodriguez (@armandorodb), robotics engineer.