Delta robot 1
Вставка
- Опубліковано 18 чер 2018
- Yellow head is controlled by three step motors via spatial linkage. Green and pink bars create 3 parallelogram mechanisms. In some designs the revolution joints between them are replaced with spherical ones.
The video shows the head motion from central position when three blue input cranks turn with the same angle, first one after another and then at the same time.
The head is kept always horizontal and moves without rotation. By combination of positions of the input cranks the head can reach any position in 3D space. However, the calculation is not simple.
It can be used for 3D printers, pick and place devices.
See a real mechanism:
• Mini Delta Robot with ...
STEP files of this video:
www.mediafire.com/file/7hwrvk5...
Inventor files of this video:
www.mediafire.com/file/bxi1u9o... - Наука та технологія
Great design!
Would you use a coupling for the stepper motor shaft? Which one in that case?
Thanks for sharing!
Servo motor or stepper motor is optional.
For your consideration:
www.automate.org/blogs/servo-motors-vs-stepper-motors-in-motion-control-how-to-choose-the-right-one-for-your-application
@@thang010146 I already choose a stepper motor but what kind of coupling should I use (rigid or flexible) for a delta robot?
@@rubocadete Sorry, I can't help you because I've never built a real robot.
Perhaps a flexible coupling gives less precise movement.
How many degrees of freedom it have? The delta robot with the spherical joints have the same number of degrees of freedom? When are the singularities in this robot?
Thank you so much for all the knowledge you share. I really appreciate your work.
How does it make a horizontal straight line
The calculation to get a desired trajectory is very complicated for delta robots. Please refer to:
www.control.lth.se/documents/2009/5834.pdf
@@thang010146 This page is not visible comes up with error. (Error: Page Not Found
)
Sorry, yes, the link died.
Refer to the followings instead:
lup.lub.lu.se/luur/download?func=downloadFile&recordOId=4332966&fileOId=4332967
www.marginallyclever.com/other/samples/fk-ik-test.html
@@whatsinthename8660
Chú có nhiều tài liệu hay quá.hihi
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Tài liệu đều ở Internet.
Có vấn đề gì thì cứ hỏi.
Biết đến đâu tôi sẽ trả lời đến đó.
Dạ cháu cảm ơn Chú ak cháu cũng đang học hỏi có gì cháu nhờ Chú chỉ bảo và hướng dẫn thêm cho cháu dk ko ak?.cháu cảm ơn Chú nhé!
надо сравнить с классической схемой дельты
How would you calibrate this robot?
I don't know much about it. Please refer to:
www.control.lth.se/documents/2009/5834.pdf
josh.com/notes/angrybirds-bot/angrybot-js-worksheet.html
Which software is this??
All videos in this channel are made in Autodesk Inventor, Dynamic Simulation.
эта выглядит рабочей