Contents:
1. Introduction
In a travel by Germany, I could see how the Delta robots works in the factories, I was delighted with its performance, and I started to think how I will controlled it ,
and the most important how i will teach this concepts to my students, was in that moment that I decided build my own Delta robot,
and learn how to controlled it, and the Fab Academy was the perfect solution to my doubts. 2. Define and planning the project2.1 Scope of the project
My project consists of the develop, design, build and control a Delta robot, which will be used for pick and place, for example if we want to order several products
in a box that will then be transported, this Delta robot has to be low cost with the posibilty to be replicated. 2.2 ScheduleTo have more order in the project I am proposing the following schedule. 2.3 material's listTo build my Delta robot I going to need the following materials
3.project development3.1 Development of the mechanical partTo begin defining the concept of the mechanical part develoment, I start making a sketch of what the physical Delta robot would be Mechanism designI started my mechanical design on blackboard
After I did the design in Autocad, I had some problems with my first design in Autocad 3D, because I thought make the superior base on a 3D printer but my design was so big for it. To the framework, I decided use MDF of 18.5mm For the couplings I decided print it in the Stratasys Object 30 Prime For the forearm I used 3.4mm steel rods Finally I made and assembling the mechanical structure 3.2 Development of the electronic partI design a Power module to control my stepper motors, for this I used eagle software. I used my fabduino that i made in the assignment of output device, and I connected with the power stage, to control the stepper motors 3.3 Development of programmingIn the beginning I thought use "C" language over Ubuntu, but was more easy use the Arduino IDE, because has a lot of information in the web, the other problem was do the mathematical model, to controll the Delta Robot, Happily I found a paper "The Delta Parallel Robot: Kinematics Solutions Robert L. Williams II, Ph.D., Mechanical Engineering, Ohio University, October 2016" with how to do this but this was complex and i had to simplifie to use with the Fabduino microprocesor ATmega328p. Finally I implemented a program to build a tower 4.TestingAt last I did some test with the Delta robot 5. Self evaluation
6. File download
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