http://stackoverflow.com/questions/18162880/how-to-correctly-compute-direct-kinematics-for-a-delta-robothttps://gist.github.com/hugs/4231272

https://github.com/Jaydmdigital/mk_visual_calchttps://sites.google.com/site/3dprinterlist/delta-3d-printers/delta-robot-calculatorhttps://docs.google.com/spreadsheets/d/1hxlW7l-9fA_VWM-tKPwt8gp_vhGXPhrogSufBOluFDw/edit#gid=0

http://www.thinkyhead.com/_delta/