Delta Robot Draws Squares

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An Arduino Delta Robot I made some weeks ago. It's powered by 3 DC motors with rotary encoders (14 pulses per rotation) and gears (1/264 downscale). The DC motors are PID controlled (input signal: encoder pulse count, output signal: PWM).
Blog post about this project:
electrondust.c...
The inverse Kinematics code I applied can be accessed here:
github.com/T-K...
Above mentioned library was built upon this superb publication:
R.L. Williams II, "The Delta Parallel Robot: Kinematics Solutions", Internet Publication, January 2016.
Note that the bad accuracy while moving isn't caused by a problem with the IK mathematics. It's because my PID controller of the Delta Robot isn't very good.
This Arduino Delta Robot can't do much at this point in time. In this Video, I made the thing draw some squares.
Music:
"My Always Mood" by Broke For Free
www.brokeforfre...

Опубликовано:

5 окт 2024

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Комментарии : 16

@williamedds7657 8 лет назад

Awesome video, keep up the good work man. I'm currently going to school for EE and studying robotics and your videos are inspirational. Thank you.

@ElectronDust 8 лет назад

Hello William Edds , I didn't expect that kind of a comment on this video. For the robots accuracy isn't really up to the standard. Thank you!

@bobsonh 6 лет назад

Brilliant! You are a genius.

@marcosinfante8773 8 лет назад

Nice work, you are one of few who use dc motors to control a delta robot. I also note that you are using some kind of sensor (acelerometers maybe?) on each actuated limb, Could you tell me why?

@ElectronDust 8 лет назад

Thanks and sure! They indeed are accelerometers. I use them to get the limbs horizontal before starting to move around. In other words; I use them for calibration/to find the origin.

@mohammadrohim5649 7 лет назад

nice project..i love it...i wanna build too, but i use servo ... ^_^

@henrykbziuk4564 6 лет назад

Hi, Can you share the diagram, I would like to to do this job?

@INN2007qqqq 4 года назад

Can it calligraphy, by brush or by nib?

@subhabratabasu266 6 лет назад

How to map the angle generated by the code for delta robot inverse kinematics, because sometimes it is negative and servo motor rotate 0 to 180 degree. What to do?

@ElectronDust 6 лет назад

If your servos are only able to move form 0 - 180 then that is a constraint hard to overcome. maybe you could play around with offsets and the initial positions of the servo arms to improve the situation.