Delta robot: the final prototype

[@ww-pw6di]

Looks really awesome, glad it worked out that well.

[@NelsonCastillo]

Very nice robot. Polished.

[@joshuataylor3087]

Really awesome!! such a good job.

[@WalkingTomatoman]

How did u do the math to know the motor angles for the final position of the operator?

[@w2w900]

Masterpiece!

[@taeileom0806]

awesome!! Thank you

[@williamhuang5329]

Hanzhen harmonic driev gear , robot arm gear , over 30 years experience

[@gokulprasad7049]

Great video!, Will you be open-sourcing the design?

[@tulliocarlassara2093]

Thank you. Sorry, not for now.

[@Robotinnovations]

very nice work. can you share code

[@RyanRyan-ym7yi]

Nice, Which Software did you use to control 3 stepper motors at the same time?

[@tulliocarlassara2093]

Thank you. The software in the microcontroller that drives the motors is the real hard work. It interpolates the step-coordinates that are passed to it. Before there is the software in the pc. It converts the constraints of the trajectory from cartesian-coordinates to step-coordinates and sends them to the microcontroller. All softwares are originals.

[@RyanRyan-ym7yi]

Thank you! I have one more question! How can you calculate the arms and forearms of delta robot that makes the moving platform move straight on 2D plane? Do you have any solution? I’m looking for your answer! Thank you!

[@tulliocarlassara2093]

​@@RyanRyan-ym7yi A succession of points in cartesian coordinates determine the trajectory to be traveled. If you want a straight line, put the sequence of points along a straight line. For each point you then have to do inverse kinematics calculations. Basically you have to calculate the angles of the arms for each point in the sequence. Then the interpolation algorithm will link the results.

[@gauravgarg8879]

nice video, can you help me with the relation between linkage length and the arm length and the angles between each motor? also the motors suggested for this mechanism

[@tulliocarlassara2093]

Thank you. The length of the arms connected to the motors is 250 mm. The length of the arms connected to the terminal is 500 mm. The motor shafts are at 100 mm from the center and the terminal shafts are at 50 mm from the center. As stepper-motors I used 23HS30-2804s-HG10

[@gauravgarg8879]

​@@tulliocarlassara2093 thank you sir for your reply.. it helped me a lot... sir i have one request more if you had prepared some documentation regarding it can you share it with me.... my mail id is [e-mail]

[@tulliocarlassara2093]

@@gauravgarg8879 I'm sorry, no documentation. But you could find ideas on the site www.sipro.vr.it/en/

[@gauravgarg8879]

@@tulliocarlassara2093 thank you sir for helping me a lot

[@aquilinogava7896]

Buongiorno. Il prodotto in video e` acquistabile ? Grazie

[@tulliocarlassara2093]

No

[@aquilinogava7896]

@@tulliocarlassara2093 Grazie ?

[@tulliocarlassara2093]

@@aquilinogava7896 E' un prototipo per uso didattico. Un delta robot di simile fattezza lo puoi trovare ad esempio in www.sipro.vr.it

[@eyesyc]

Reprap