Delta Robot Rig doesn't work in C4D, works in Blender

[rastermind2]

Hello, wondering if anyone can help.
I have rigged a number of Fanuc robot rigs for work with success.
This rig of a Fanuc Delta robot just would not work in C4D for me.
So I turned to the site Freelancer to find someone.
I did and she said she could do it in C4D originally. But after about a day she said she can't do it in C4D but did it easily in Blender. I asked her what she had in Blender that helped her, she says the constraint systems in Blender are better.
Anyone know of plugins or any way to be able to achieve this rig?
There seems to be an increasing number of reasons to switch to this open source platform. This puts me into a tough position as someone using C4D for the past 14 years.

Can someone help me redeem C4D?

See the video proof of my Delta Robot rigged: https://youtu.be/v6zVOGo0oU4

[Dr. Sassi]

Hi rastermind2,

Pretty much five years ago, I had the same question.
This was the file; I just checked it in 2023.2.1 (Perhaps it pushes some new ideas.
CV4_2023_drs_23_CAta_11.c4d

This evening I made this one new; it works better, but going too far leaves some imperfections.
CV4_2023_drs_23_CAta_01.c4d

Just brainstorming here
The mathematical solution would be to take the endpoint of the three arms and calculate the outer circle for it. (A circle that is shared by all three points.) The circle's midpoint is the projected position of this setup's moving head, which is perpendicular to the circle as the circle describes the shared midpoint. As the lower arms keep the same length, that is then stable. This means it is all in numbers, with no IK calculation. From my point of view, this is the simplest way to do it in 3D with math, if needed. Formulas are on the web. I hope the version above will do.

All the best

[Dr. Sassi]

P.S.: here is a solution based mostly on math.

I have simplified the arms for the demo, but it functions as an example.

CV4_2023_drs_23_XPar_01.c4d

Enjoy

[rastermind2]

Thank you Dr Sassi!

[Dr. Sassi]

Hi rastermind2,

Thanks for the feedback.

I hope the provided material allows for something you can work with.

I worked more on the XPresso-based file

I put a request in to have that three points in space into a connecting Circle.
With the three single-axis rotation arms, we get a triangle in space, which could be expressed with a radius-changing circle. Below that circle is in its middle point perpendicular down the moving object (printing or operating head), as the three "legs" are fixed in length.

Enjoy your project

P.S.: here is a newer version (2024/11/09) Simpler
cv4_2024_drs_23_xpar_11.c4d