Science Robotics

Supplementary Materials

Supplementary Material for:

The milliDelta: A high-bandwidth, high-precision, millimeter-scale Delta robot

Hayley McClintock,* Fatma Zeynep Temel,* Neel Doshi, Je-sung Koh, Robert J. Wood*

*Corresponding author. Email: hayley.mcclintock{at}wyss.harvard.edu (H.M.); fztemel{at}seas.harvard.edu (F.Z.T.); rjwood{at}seas.harvard.edu (R.J.W.)

Published 17 January 2018, Sci. Robot. 3, eaar3018 (2018)
DOI: 10.1126/scirobotics.aar3018

This PDF file includes:

  • Fig. S1. Relevant linkage parameters for one arm of the milliDelta.
  • Fig. S2. Manufacturing process for the milliDelta.
  • Fig. S3. Singular value plot of the transfer function matrix as a function of frequency.
  • Table S1. Link length parameters of the milliDelta, piezoelectric bending actuator dimensions, and flexure stiffnesses.
  • Reference (51)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). High-frequency motion.
  • Movie S2 (.mp4 format). Trajectory following.
  • Movie S3 (.mp4 format). Tremor compensation.

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