Delta Robot

By silviodc, 21 January 2019

One of the projects I did during university was called “Assesment and optimization of magnetic torquers for spacecraft attitude control

This involved the conception and development of an automated test stand. After some research I decided to build a delta robot, due to his big working area and smooth movements in comparison to a cartesian robot. Since the kinematics are much more difficult to calculate than in a cartesian robot, I was really lucky to find some open source code for 3D printers, which I could adapt to drive our stepper motors.

Determined by the size of our solar simulator I designed a work envelope which you can see here:

robot work envelop

We needed a specific endeffector to keep the sensors in place, and the tolerances for size/rigity/degrees of freedom had to be very strict, so I designed one in 3D which was then printed out of plaster. To save space I designed the universal joints already preassembled.

cross section of the 3D printed joints, colors indicate individually moving parts, while all was printed together
Feeling like an archeologist while unearthing the carriages

Full Setup. The display allowed to switch between various testing scenarios and the arduino controlled it without the need of a PC

At a later stage the carriages which are driven by the stepper motors were even printed out of Aluminum for higher rigidity.

And here a video of the movements

What do you think?

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