Abstract: A delta robot includes a base plate and at least three drives fastened thereon, which are connected to an arm, with at least one drive connected at an opposite end relative to the arm to two rods. The rods run parallel and are connected at one end by an additional ball joint to a movable parallel plate. The two ball joints are oriented mirror-symmetrically to each other and each hollow ball segment is pressed onto a ball segment head by tensioning a permanently elastic element between two rods that are parallel to each other. The center point of a ball segment head is displaced relative to the longitudinal support axis of the rod with the direction of displacement pointing away from the hollow ball segment with the displacement always being smaller than the radius of the spherical segment head.

Abstract: A delta robot includes a stationary base plate and at least three drives fastened thereon, which are each connected to at least one arm, of which at least one drive is also connected at an opposite end relative to the arm to two rods by way of a ball joint. The rods run parallel to each other and are connected at one end, by way of an additional ball joint, to a movable parallel plate, in which each ball joint has a ball segment head and a hollow ball segment designed complementary thereto. The two ball joints, which adjoin each other on parallel rods, are oriented mirror-symmetrically to each other and each hollow ball segment is pressed onto the associated ball segment head by tensioning at least one permanently elastic element between two rods that are parallel to each other.