Delta Robot Pick & Place — Throughput vs Joint-Speed Limit

This simulator models the parallel "delta" robot architecture used on real food-packaging lines — an overhead frame with three motor-driven arms whose parallelogram forearms hold a light moving platform perfectly level, giving fast 3-DOF motion with very little swinging mass. Each frame the robot's three joint angles are solved live from the target point with the exact Clavel delta-robot inverse-kinematics equations (not an approximation), so the rendered arms are always geometrically consistent with where the end effector actually is. Set a target pick rate and a mechanical joint-speed limit and watch the trade-off play out directly: push the rate high enough relative to the speed limit and the required peak joint speed for each move exceeds what the motors can deliver, and the robot starts missing picks — the same throughput ceiling that governs real pick-and-place cell design.