DELTA robot

Presentation:

DELTA robots are essential components of automated production lines due to their high speed of movement and positioning accuracy. They are perfectly suited to pick-and-place operations.

The DELTA Robot is an educational system that introduces the fundamentals of robotics, such as direct and inverse kinematics, trajectory generation, motion planning, and robotic programming.

Technical solutions covered:

DELTA robot with 3 rigid bars

Three digital servomotors (RS232)

Three connecting rod/crank mechanisms with ball joints

Magnetic actuator for pick & place applications

Digital camera for vision

Electronic interface card between the operating part and the control cards (myRIO, Arduino and Raspberry)

Fully compatible with LabVIEW and MATLAB Simulink

Open Source software structure for customizing desired applications

Educational activities:

Functional and structural study of the DELTA robot:

• The parallel robot mechanism
• Digital servomotors
• The electronic interface board
• The myRIO, Arduino, or Raspberry control/command board
• The digital camera.

Study of the robot's kinematic models:

• Direct kinematic model
• Inverse kinematic model

Study of the robot's trajectories:

• Theory on trajectory generation
• Plans in Cartesian space
• Plans in joint space
• Cubic polynomials
• Higher-order polynomials
• Linear function with parabolic mixtures at connection points
• Implementation of trajectories on the robot

Study of image acquisition and processing:

• Image calibration
• Pattern filtering
• Image processing functions (conversion table, Fourier transform, color plane extraction, threshold)

Key features:

Educational DELTA robot for learning the fundamentals of robotics

Control system can be customized by users with programming in LabVIEW, MATLAB Simulink, or Python.

Open source programs for creating your own control interfaces.

References:

AO04: DELTA robot

AO01: Control with MyRIO

AO02: Control with Arduino Mega

AC/RPi3: Control with Raspberry Pi 3

Video: