Trajectory Planning, Kinematics, and Experimental Validation of a 3D-Printed Delta Robot Manipulator
Ayazbay A.-A. Balabyev G. Orazaliyeva S. Gromaszek K. Zhauyt A.
2024International Journal of Mechanical Engineering and Robotics Research
International Journal of Mechanical Engineering and Robotics Research
2024#13Issue 1113 - 125 pp.
This paper presents the implementation, trajectory planning, kinematics, and experimental validation of an open-source 3D-printed delta robot manipulator. The robot’s hardware consists of three servo motors, an Arduino Uno microcontroller, and a Pulse Width Modulation (PWM) servo module. The software includes a trapezoidal velocity profile planner and an inverse and forward kinematics solver to calculate the motor angles required to achieve a desired end-effector position in task space. The 3D printed parts were obtained from an open-source Thingiverse project and assembled to form the robot’s kinematic structure. The robot’s performance was evaluated in terms of its accuracy, repeatability, and maximum speed for a pick-and-place task. Experimental results show that the robot can achieve a positioning accuracy of 2.2 mm, with a top speed of 0.4 m/s, 30 picks per minute, and load carrying capacity up to 200 g. These results are satisfactory, considering the ease of assembly and the cost-effectiveness of the robot. The comparison of the calculated motor angles with actual motor angles obtained through additional potentiometer wires soldering shows promising results. The proposed robot’s cost-effective characteristics, utilization of open-source additive manufacturing, and motion planning algorithms make it suitable for various applications, including education, research, and small-scale industrial applications. Copyright
additive manufacturing , delta robot , kinematics , robotics , trajectory planning , workspace
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Department of Electronics Engineering, Almaty University of Power Engineering and Telecommunications named after G.Daukeyev, Almaty, Kazakhstan
Academy of Logistics and Transport, Almaty, Kazakhstan
Lublin University of Technology, Lublin, Poland
Department of Electronics Engineering
Academy of Logistics and Transport
Lublin University of Technology
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