Collaborative Delta robot

A collaborative Delta robot comprising:

• a stationary base and a mobile basket connected to the base by means of three kinematic chains, each kinematic chain being driven by its own motor,
• a first presence detector configured to detect an object or a living being in a first safety zone around the robot, and
• a motor control unit configured to reduce a speed of each said motor from a respective first speed to a respective second speed when an object or a living being is detected in the first safety zone and to stop the motors when contact between a said kinematic chain or the basket with an object or a living being is detected,
• wherein to detect contact between one of the kinematic chains or the basket with an object or a living being, the motor control unit is configured to:
• determine a torque exerted by each of the motors, and
• compare the determined torque of each motor to a torque threshold,
• wherein the motors are direct drive motors configured to achieve a torque of at least 2 N-m/kg.