@planmix The Dynamic Model is really what is unique for this Delta Robot. This is what have occupied me the most. I don't know how much weight it can lift. Probably 10 kg, theoretically. This I could find out later by simulations. However, this one is definately a prototype, and I will not challenge the construction (too much backlash). This will have to wait until prototype 2.
Yes, I'm planning another prototype, which will include AC Permanent Magnet motors. Any sponsors? Want to join?
@TheDeathofGrace It's a prototype, and there's no point except a proof of concept. A delta robot is just another x-y-z robot arm, which is extremely fast by the way, due to it's parallel structure. Imagine a dirty job like putting chicken breast fillets (or whatever) in trays... It can be done with a robot like this, if you extend it with a gripper.
The dynamic model calculates the target positions (no "computed torque" yet). However, as this is the absolute first run of the robot, non of the parameters are tuned correctly. Too much safety right now - caused by the fact that it takes time building the mechanics, even when the robot is as simple as this one. I will show another video later, which will feature some of the advantages of using a dynamic model.
@MimixMotion Also the motor and transmission have considerable Kinetic and Fluid Friction, which is not a part of the model, but needs to be. Working on this extension of the model! (In kinetic friction, the resisting force is a constant, where as in fluid friction, it is linearly increasing with speed). There will be another video soon, which will demonstrate the dynamics... :-)
@MimixMotion I still need the correct measure for the Moment of Inertia of the "upper arm", transmission, and motor, which together forms a common Moment of Inertia. This parameter needs to be determined experimentally, and I'm in the middle of doing this right now.
hi, very nice work!
Which servos did you use? And how are they controlled by the arduino-board?
manuMFfilms 10 months ago
Hi very good morning, I would like to know how did the schedule for
delta control you built with arduino, I'm doing the Masters
and I'm building a delta manipulator with 3 degrees of freedom I have 3 motro
and three servos, I would like to be you could give me any help or information and
you did it here in your video thank you very much. Darly Peña
nausica69 11 months ago
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Truly amazing!! I would love it if you posted maybe an instructable or something like that. Source code maybe some more pics.
ccotter247 1 year ago
Truly amazing!! I would love it if you posted maybe an instructable or something like that. Source code maybe some more pics.
ccotter247 1 year ago
SUPERB Design can u plzz give more details in writing codes in audrino for servo controls i will be thankful to you:)
ishanmehta03 1 year ago
Very nice job! I like that you also calculate the dynamic model!
Which is the maximum weight it can lift ?
planmix 1 year ago
@planmix The Dynamic Model is really what is unique for this Delta Robot. This is what have occupied me the most. I don't know how much weight it can lift. Probably 10 kg, theoretically. This I could find out later by simulations. However, this one is definately a prototype, and I will not challenge the construction (too much backlash). This will have to wait until prototype 2.
Yes, I'm planning another prototype, which will include AC Permanent Magnet motors. Any sponsors? Want to join?
JensOverby 1 year ago
@JensOverby
Dou you have a PayP*l account? may be i can make a little donation...
changojon 7 months ago
@JensOverby
Yep, it's the dynamics which makes these kinds of robots so difficult to design and build.
douro20 3 weeks ago
which simulation software are you using ??
as shown at 0:36
evolutionsdisaster 1 year ago
@evolutionsdisaster The simulation software is developed by me. One of my hobbies happens to be computer graphics.
JensOverby 1 year ago
@JensOverby And in fact, it is not a simulation, rather a real-time visualization of the real-time Path Planner.
JensOverby 1 year ago
and wtf is the point of this robot?
TheDeathofGrace 1 year ago
@TheDeathofGrace It's a prototype, and there's no point except a proof of concept. A delta robot is just another x-y-z robot arm, which is extremely fast by the way, due to it's parallel structure. Imagine a dirty job like putting chicken breast fillets (or whatever) in trays... It can be done with a robot like this, if you extend it with a gripper.
JensOverby 1 year ago
@TheDeathofGrace you sure know how to be polite...
n9986 1 year ago
@TheDeathofGrace
Dou you know WTF a delta robot is???
changojon 7 months ago
Looks great. I'm hoping to build my own delta robot at some point. Looking forward to hearing more about your work.
clide8 1 year ago
hi
you reckon you could use these for legs on a robot?
nubberyourtube 1 year ago
The dynamic model calculates the target positions (no "computed torque" yet). However, as this is the absolute first run of the robot, non of the parameters are tuned correctly. Too much safety right now - caused by the fact that it takes time building the mechanics, even when the robot is as simple as this one. I will show another video later, which will feature some of the advantages of using a dynamic model.
JensOverby 1 year ago
@MimixMotion Also the motor and transmission have considerable Kinetic and Fluid Friction, which is not a part of the model, but needs to be. Working on this extension of the model! (In kinetic friction, the resisting force is a constant, where as in fluid friction, it is linearly increasing with speed). There will be another video soon, which will demonstrate the dynamics... :-)
JensOverby 1 year ago
@MimixMotion I still need the correct measure for the Moment of Inertia of the "upper arm", transmission, and motor, which together forms a common Moment of Inertia. This parameter needs to be determined experimentally, and I'm in the middle of doing this right now.
JensOverby 1 year ago
Very cool. From theory to reality. Your dynamic model calculates accel parameters?
MimixMotion 1 year ago