Volksrobot 2.0. Arduino Delta Robot

For more info: http://sites.google.com/site/volksrobot . Another video of my home made Delta Robot.

Category:

Science & Technology

Tags:

• delta
• robot
• parallel
• arduino
• duemilanove
• path
• planning
• simulation
• microcontroller
• flexpicker
• jens
• overby

[JensOverby]

At the moment I am trying to further develop the robot to use AC Induction Motors (or brushless DC). I'm looking into the technologi called "Field Oriented Control" at the moment. Also I'm trying to find an appropriate "Power Stage", so I don't need to make the high voltage components myself. If anyone have experiences with these technologies, I would very much appreciate to get in contact with you.

[jcims]

Will you make a large version to stack my firewood for me? :)

Great work! How much do inertial effects play into your path planning? 

[JensOverby]

@jcims I claim that I have made a complete dynamical model for the robot. This is almost true! All ROTARY parts are modelled, except for the rods making up the parallellograms. The weight of these are modelled, but not the moments of inertia of these. However, I assume that since the moments of inertia of these are very small, the effect is neglectable.

[JensOverby]

@jcims The moments of inertia of the "upper arms" are a part of the model, just as the the inertia of the gear box and the rotor of the motor are modelled. In fact, the motor rotor and gear wheels, are those moving parts of the robot, which uses BY FAR the most amount of available torque. This is because these parts are rotating at very high speeds. Consequently, low moments of inertia of these parts are vital. But all these dynamical effects are considered in the path planning :-)

[webdext]

Are delta bots like these accurate enough for a pick'n'place? Or are they not ideal because of the tool head weight?

[lusianpokemon]

what kind of programans did you use to program the robot? I want to build this type of robot for my faculty degree, and i want to learn the programs, can you guide me to some good materials?

What program did you use in this video?