Eigenbau Delta Roboter

== detailed ENGLISH description below ==

Ein kleiner Delta Roboter den ich aus handelsüblichem Modellbau Zubehör gebaut hab.

Mikrocontroller: ATMEGA16
Servos: Futaba FP S148 (Standard Servo)

Als "Vakuumpumpe" verwende ich nen Staubsauger. Der macht zwar mit meinem spezial-Aufsatz einen Höllenlärm, aber immerhin funktionierts.

How the Programm works:
I've used eclipse to programm an application in java. That programm calculates the servo-positions (angles) and sends the data over an usb- serial converter to the robot. Actually, the robot itself (Atmega 16) only generates the pwm signals for the servos.
The Java programm on the pc calculates the angles with basic trigonometry and / or vectors.
- Each Robot-Arm (3) resembles a Triangle: servo - "ellbow" - pivot point on the moving platform. You can ignore the fact that the arm is more complicated than just a triangle, the two black beams keep the moving platform parallel to to base but thats of no interest for this calculation.
- Given are the side lengths of the triangle - the beams wont change its length...
- Given is also the position you want the "pivot point on the moving platform" to be - relative to the servo (with servo I mean the center of its axis)

-This way you have all information you need to calculate the corresponding angle the servo needs to set.

Then, the programm has to do this calculations for every robot-arm, for every little step the platform moves again. Thats how my program basically works.

Category:

Science & Technology

Tags:

• deltaBot
• ATMEGA
• Roboter

[douro20]

Good delta robots are quite difficult to make; you did a good job.

[rammteddy]

Geiles Teil, Respekt!