ESP32 Delta Robot PCB

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#robot #electronics #engineering

Опубликовано:

5 июл 2024

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Комментарии : 41

@tuskiomisham 5 лет назад

Every time I watch one of your videos, I feel like I'm watching something before it gets really, REALLY big. It's full of little nuggets that rookies like me would never think of, and it's interesting!

@ProtoG42 5 лет назад

Here are links to some of the equipment used on my delta: MPS MA730 Magnetic Encoders: www.monolithicpower.com/en/tbma730-q-rd-01a.html Stepper Motors and Drivers - amzn.to/2RcFBqK ESP32 - amzn.to/2TK9Sik Object Tracking Pixy Camera - amzn.to/2r4GaaL Braided Cable Sleeve - amzn.to/2LedCnb Stainless Steel Cable Ties - amzn.to/2LevZsb Strain Relief Cable Glands - amzn.to/2LdnuO8 Silicone Fusing Tape - amzn.to/2J5RPO8 Locking Casters - amzn.to/2kJ75WB Aluminum Extrusion - amzn.to/2Lh14M7 Cable Clips - amzn.to/2xColG8 M5 T Slot Nuts - amzn.to/2HdnNWP M5 Screws - amzn.to/2J4OSBs Carbon Fiber Tubes - amzn.to/2J5xVqz Suction Cup Nozzles - amzn.to/2Qh2Vqg Here is a link to the telemetry viewer I used in the video to stream the raw data from the encoders: www.farrellf.com/

@wileecoyoti 5 лет назад

Great project and your lab is looking excellent!

@ProtoG42 5 лет назад

Thanks Ryan!

@tf3confirmedbuthv54 5 лет назад

Your back!!!

@jonathanflores3748 5 лет назад

Man! Great interface and pcb layout! Congrats!

@ProtoG42 5 лет назад

Thanks Jonathan!

@mikegLXIVMM 24 дня назад

Nice work! I tried to build one,. but the math got me. 😆

@MohamedAshraf-qu1nl 4 года назад

Great series mate! I'm interested in make a delta robot with computer vision, pretty similar to yours actually, but I've got some questions. I'd like to just as about these ball joints. Are these bought or custom made? as I've searched a lot and all I found were custom made.

@priyabratabasu3251 5 лет назад

Which materials u are using for rhe bicep and forearm? How do you calculate the torque of the three motors?? Which encoder u are using? Reply soon. Thanks in Advance.

@cashel1111 5 лет назад

hey dude, when you get the kinematics system going, can you please do a rundown of the basics, and how you implemented them? i have seen videos on the cartesion version (as well as the multi axis arms trying to find XYZ positions) but good detla videos are few and far between :) good to see you uploading again!

@ProtoG42 5 лет назад

"good detla videos are few and far between" - That has partly been my inspiration for this project to begin with as I haven't seen many diy projects out there. Cartesian machines are much simpler and easier to understand. The kinematics are definitely the most complex part about my robot and will likely take me a while to work out all the kinks.

@shazam6274 5 лет назад

Since you have discovered noise issues, get rid of the ribbon cables. You can still use the headers on the PCBs, but for the wire use miniature Lavalier microphone cable, which is a shielded twisted pair. Do not use the shield for an signals and connect it only at the controller PCB ground. Samtec has compatible header shells and sockets for the wires, so you can keep the same pin-outs on the PCBs. See: www.mogamicable.com/category/bulk/microphone/lavalier/ and www.mogamicable.com/category/bulk/ultra_flex_mini/ For extra strength, put some hot melt on the connector and some 3:1 adhesive lined heat shrink over it. Strong as molded.

@richard-sim 5 лет назад

Very cool! You mentioned that there'd be a link in the description to the Java graphing app you're using, but that seems to be missing. Link please? :)

@ProtoG42 5 лет назад

Thanks! You can download it here: www.farrellf.com/

@sebastianhofer2430 5 лет назад

Great job! Greetings from germany 👏

@ProtoG42 5 лет назад

Thanks Sebastian!

@TheSinfulFreak 5 лет назад

Looks super cool! This might seem like a silly question (I'm new to these things): why use an esp32 instead of something like an esp8266? Is it because of the higher processing power, greater number of input pins, more analog inputs, or perhaps a combination of the aforementioned? I say that because the 8266 has more support, at least to my knowledge ( I use arduino IDE to program them).

@MrFuxya 5 лет назад

ESP32 has plenty of support now too IMO. Also it has a lot more memory than the esp8266! That comes in handy if you need wifi as it takes a lot of space.

@TheSinfulFreak 5 лет назад

@@MrFuxya Makes sense! Thanks for the reply

@CapApollo 5 лет назад

are you getting good resolution? those are armonic or geared reduction? since there is backlash on the geared models and for fast movements..

@ProtoG42 5 лет назад

I am using regular planetary gearboxes but the backlash is almost non-existent on 2 of the 3 gearboxes. The backlash may be able to be minimizes with a bit of code. I don't know the exact resolution yet but I am getting good enough resolution for picking up and sorting smallish objects(

@EdwinFairchild 5 лет назад

so the pcb alone cleaned up all the noise?? Makes me wonder about all my failed projects because of jittery motors and bad signals on breadboard and prototyping board haha

@ProtoG42 5 лет назад

Yes, proper PCB layout can do wonders. Always route your sensitive signals first like an SPI bus. I like ground planes on the top and bottom of the board so I can easily separate two signal with a ground trace.

@AudreyRobinel 5 лет назад

Hello! The project seems greatly engineered, everything seems awesome! One thing i don't understand is what it is for? Also why those super beefy steppers for a small delta gantry? (those motors seems like at least NEMA34, and your delta arms looks like 10mm rods) Did you use those because you had them laying around? or is the high power really required in your project? And what is it supposed to do, to have such a beefy frame also ^^ Anyway, amazing work!

@ProtoG42 5 лет назад

Thanks Audrey! They are 80VDC,7.8A NEMA 34 stepper motors with 1600oz-in of torque. The toque of a stepper motor is drastically reduces when microstepping and when driven at higher speeds. At 1/8th microsteps, you're already at around 19% of the original rated torque. At 1/16th microsteps, the motor now only has around 10% of the original torque rating. The power of these motors gives me much higher torque at high speeds and higher resolution compared to smaller stepper motors.

@AudreyRobinel 5 лет назад

@@ProtoG42 That's a discover for me, i knew about torque degradation with speed, but didn't know that microstepping caused such drastic torque loss! (btw, i saw from your other videos that it was for a pick and place machine, so high speed AND high accuracy required, in that context, i'm less surprised by the super beefy metal frame). Anyway, that's an awesome project, i'm eager to see the next videos :)

@PCBWay 5 лет назад

We like your lab

@ProtoG42 5 лет назад

Thank you!

@plemosp 5 лет назад

Dude, your PCB design is so beautiful, how did you do that? Thanks for the video

@ProtoG42 5 лет назад

Thank you! I designed it with KiCAD. It's free open source pcb design software if you've never tried it.

@mdkamruzzamanrussel612 5 лет назад

How can I get one?

@fayobam_mech_tronics 5 лет назад

oscilloscope envy!!!!!!!

@riteshpatel1460 5 лет назад

is pcb design available for this ??

@ProtoG42 5 лет назад

Not yet, but I will end up releasing all the files when I finish the project. Here is the link to the ESP32 board I am using: amzn.to/2Da96Gi

@searekc8167 5 лет назад

When you rub the PCB with your finger and when you rub the PCB together it makes that finger nail on chalkboard kind of sound that sends shivers down your spine