Delta
Release status: unknown
| Description | Delta type parallel kinematic manipulator setup to be used as repstrap
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| Based-on | [[]]
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Contents
Introduction
The Clavel- or Delta-robot is mostly known for its use in pick-and-place work in PCB fabrication and generic packaging applications. It features fast and accurate positioning and is relatively easy to build. We, User:Energetic and User:Reinoud teamed up to create a both easy to fabricate and light on the budget RepPrep/RepRap. Our goal is to be well under the current prices for Mendel and/or Darwin RepRap's.
We decided to design and develop the bot trough a series of prototypes, learning and refining on each iteration.
Prototype 1
The initial prototype designed and lasered by User:Energetic. It was cut out of 1 cm acrylic sheets by a shop. It proofed the concept of the magnetic ball bearings and the overall structure of the design. Regretfully it was never driven by an Arduino/Sanguino other than simple stepping.
Prototype 2
Lessons were learned from prototype 1. It proved to be hard to reproduce the machine since non-standard 4mm shaft Nema17 motors were used and needed some intricate drilling in the side of the sheets to receive the bolts and nuts. Also, since acrylic is quite expensive, we decided to go for plywood.
We replaced the 1 cm acrylic with a set of three sheets with the respectively thickness of 3, 4, 3 mm. This to easily accommodate the 4mm bolts.
Working Notes!
This RepRap/RepStrap is the result of a team up of User:Energetic and User:Reinoud.
As for the design, its still a work in progress although the manipulator gets more mature; its second prototype is approaching build phase. As for the firmware, a ReplicatorG compatible firmware has been written doing the coordinate transformations needed. It can either run on a single Arduino or on a single Sanguino with standard Polulu stepper controllers and standard Nema17 steppers.
Mailing list
Existing Designs
"Mjcbruin" from the Netherlands designed the this delta bot for $70. It is driven by 3 hobby servos, and is controlled by an Arduino. The code has been published at the letsmakerobots link. Video Design + code
User:Reinoud has built a similar design with servos.
- Ugly Stewart Platform ( http://builders.reprap.org/2006/09/ugly-stewart-platform.html ) : crude prototype for hydraulic Stewart platform.
- first stab at a Stewart platform RepRap: http://blog.reprap.org/2006/02/reprap.html
- Biollante: a few more stabs towards making a hydraulic Stewart platform RepRap: http://burningsmell.org/biollante/
- Biollante posts: http://builders.reprap.org/search?q=Biollante
http://forums.reprap.org/read.php?178,26318
Files
Tooling
Lasercutter and standard tools are sufficient to make the current repstrap version
