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DIY Delta robot

For your daily needs

This repo gives a brief (for now) explanation about designing, modeling, building, wiring and programming delta type robot.

What does this repository include?

  • Application controlling the robot with live visualization of the kinematics written in Python
  • 3D model of the whole robot, as well as 3D models of all the parts that need to be printed
  • BOM
  • Build instructions
  • Inverse and Forward Kinematics equations with derivation

Features

  • Both online and offline working mode - in offline you can simulate the robot's configuration in different positions
  • Bluetooth connection
  • Basic manual control by providing x,y,z coordiantes or
  • Basic relative position control in Jog mode
  • Enabling/disabling motors
  • Starting/stoping the program
  • Encoders calibration
  • Homing
  • Changing TCP offset and Jog step
  • Changing Z axis limit
  • Live robot kinematics visualization
  • Live TCP displacement plot in x,y,z coordinates
  • Live joints displacement plot in angular coordinates
  • Creating and manipulating robot programs, saving, opening and editing. Points can be set either by manually typing in the coordinates or by a teach-in method, in which you hold the robot in a certain position and take it's current configuration as a point's coordiante

Pictures and screenshots presenting the robot and application

Main screen Collision detection
Work envelope Real robot
Joints plot Program creator
Kinematics drawing