Abstract:In order to extend the Delta robot’s work space, a traditional Three Degree of Freedom (3-DOFs) Delta robot is mounted to the moving platform of a XY linear guide to form the novel redundantly actuated XY-Delta robot. Among which, motion controller and Programmable Logical Controller (PLC) were used to be the control unit by Delta robot and XY platform respectively. The distribute control system was designed and implemented with industrial computer as master computer and with motion controller and PLC as slave computer, so as to make the mathematical model, mechanical system, control system and planning algorithm integrative. Illustrated by practice, the system has these characters such as large work space, inexpensive, high speed and high precision, and etc.