Published March 13, 2026 © GPL3+

DIY Industrial Pick & Place Robot | Hybrid Delta Robot

I built a Hybrid Delta Robot using Arduino & Servo motors. Delta robots are widely used in factories for high-speed pick and place operation

BeginnerFull instructions provided147

DIY Industrial Pick & Place Robot | Hybrid Delta Robot

Things used in this project

Hardware components

Arduino UNO

SG90 Micro-servo motor

9V 1A Switching Wall Power Supply

Software apps and online services

Arduino IDE

Autodesk Tinkercad

Hand tools and fabrication machines

Soldering iron (generic)

Scissor, Electrician

Multitool, Screwdriver

Tape, Electrical

Wire Cutter / Stripper, 5.25 " Overall Length

Premium Female/Female Jumper Wires, 40 x 3" (75mm)

Breadboard, 830 Tie Points

Story

Introduction

Full Video Demonstration of the pick and place delta robot

I built a pick-and-place robot of Hybrid Delta design, using Arduino and servo motors. Delta robots are widely used in factories for high speed pick and place operations, but this version combines the concepts of a traditional delta robot and a cable-driven robot, creating a lightweight 3D robot.

Why I Built This Robot?

The goal of this project was to design a robot that can move in three dimensions while keeping the mechanical structure simple and lightweight. So this robot with design satisfies all these requirements.

Servo Motor Arrangement For Delta Robot

Using three servo motors arranged at 120°, solid links, and cables connected to the end effector, this robot can reach multiple points inside its workspace.

Computer Aided Design (CAD)

CAD of Hybrid Delta Pick And Place Robot

I first designed the robot in CAD, then built the real-world setup following the design. The robot is controlled using an Arduino Uno, and the motion is determined through inverse kinematics calculations.

Circuit Schematic

Circuit Diagram of Hybrid Delta Pick And Place Robot

This is the circuit schematic, here we have three servo motors. These motors are connected to the Arduino Uno prototyping board.

Workspace Of The Robot

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To better understand its behavior, I also created a Python-based simulation to calculate and visualize the workspace of the robot. The simulation predicted a bowl-shaped workspace due to servo limitations, and when tested in the real world, the robot successfully reached those same positions.

2D Hybrid Delta Robot

Earlier had made a hybrid delta robot, but it had two motors with solid links and cable, so its end-effector could only move in two dimensional vertical plane. This robot could draw objects, We used OpenCV and python based object tracking to track the end-effector and its joints. We also controlled this robot via internet using a webpage in browser. We also controlled the motors of this robot directly from Arduino IoT.

Click here for more details on 2D Delta Robot

2D Delta Robot

Earlier had made also made a pure delta robot, but it had two motors with solid links, so its end-effector could only move in two dimensional horizontal plane.

However, this robot is called a Hybrid Delta Robot because one of its links is replaced by cables instead of rigid parallel links. This introduces an interesting limitation: the system relies on gravity to keep the cables under tension. Because of this, the robot would not function properly in zero-gravity environments, such as on the International Space Station. In space, the cables would go slack, and the robot would lose precise control of its end effector.

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I also tested the extreme points of the robot’s workspace, validate the simulation results.

Delta robot design with full solid links

In future we can make improvements such as stronger and precise servo motors, better cable for proper tension, improved inverse kinematics algorithms, and additional degrees of freedom.

Full Video Demonstration Of the Robot

This project demonstrates how robotics concepts like delta mechanisms, cable-driven systems, workspace analysis, and simulation can be combined to create a unique robotic design.

Robotics EveryDay!

Schematics

Code

Arduino Code For The hybrid pick and place delta robot Controlling three Servo Motors

#include <Servo.h>

Servo m1,m2,m3;    

float l1, l2;
float tl = 9.5;
float l3 = 4.7;
float l4 = 5.5;

float h1x, h1y, h1z;
float h2x, h2y, h2z;
float h3x, h3y, h3z;

float toRadians(float deg) { return deg * PI / 180.0; }
float toDegrees(float rad) { return rad * 180.0 / PI; }

void setup() {
  m1.attach(5); // 0 degreee
  m2.attach(6); // 120 degree 
  m3.attach(11); // 240 degree
  Serial.begin(9600);
  points();
  
}


float calculate_angle(float x, float y, float z, float hx, float hy, float hz){
    l1 = sqrt( (x-hx)*(x-hx) + (y-hy)*(y-hy) + (z-hz)*(z-hz) );
    l2 = tl - l1;
    float d = (l2*l2 - l3*l3)/(2*l4);
    float h = sqrt(l2*l2 - d*d);
    float theta = atan2(h,(l4-d));
    theta = toDegrees(theta);
    return theta;
}

void workspace(){
  for(float i=-10; i<10;i+=1){
    for(float j=-10; j<10;j+=1){
      for(float k=-10; k<10;k+=1){
        if (calculate(i,j,k)){
          Serial.print(i); Serial.print(", "); Serial.print(j); Serial.print(", "); Serial.println(k);
        } 
      }
    }
  }
}

void loop() {
  workspace();
}

Credits

Robotics EveryDay

5 projects • 15 followers

DIY Industrial Pick & Place Robot | Hybrid Delta Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction

Why I Built This Robot?

Computer Aided Design (CAD)

Circuit Schematic

Workspace Of The Robot

2D Hybrid Delta Robot

2D Delta Robot

Custom parts and enclosures

CAD Design File For The Hybrid Delta Pick And Place Robot

Schematics

Circuit Schematic And DIagram For The Hybrid Delta Pick and Place Robot

Code

Arduino Code For The hybrid pick and place delta robot Controlling three Servo Motors

Credits

Robotics EveryDay

Comments

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DIY Industrial Pick & Place Robot | Hybrid Delta Robot

DIY Industrial Pick & Place Robot | Hybrid Delta Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction

Why I Built This Robot?

Computer Aided Design (CAD)

Circuit Schematic

Workspace Of The Robot

2D Hybrid Delta Robot

2D Delta Robot

Custom parts and enclosures

CAD Design File For The Hybrid Delta Pick And Place Robot

Schematics

Circuit Schematic And DIagram For The Hybrid Delta Pick and Place Robot

Code

Arduino Code For The hybrid pick and place delta robot Controlling three Servo Motors

Credits

Robotics EveryDay

Comments

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