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Driven by the sudden longing for a personal Delta Robot I found myself building one. I decided to use geared DC motors (with 14 pulse / rotation rotary encoders), because for some reason, it occurred to me, that that's the way to go. The good thing about heavily geared DC motors is, that they won't move even when a strong outside force is applied. I used motors with a 1 / 264 gear. Thus, in combination with the above mentioned rotary encoders, the motors have a theoretical resolution of 3696 pulses ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/arduino-delta-robot-driven-by-dc-motors