It's pretty simple, I have learned 3 things already in building a delta "pick and place" robot arm...
1) There seems to be a lot of math involved in making these guys move properly. I didn't know that going into this project. Hmm..
2) Every joint must deflect quite a bit, both ways, and in BOTH THE X AND Y directions. More than 45 degrees each way seems to be a minimum.
3) What Gareth is to polymorph, I am to brass tubing. Yes, after cutting (24) perfect spacers in a row, I am now the Tubing God. --Modest too!