Carlo Franciscone form Novara in Italy developed and published detailed construction guide for this Delta configuration desktop robot with many 3d printed parts. It can be controlled by Android device via Bluetooth interface.
EEZYbotDELTA moving and picking up objects:
This delta robot can be controlled via an Android app:
Full construction manual and all the files needed to 3d print it and make it work can be found at:
It fits on a standard desktop table: