Delta Robot Essay
DELTA ROBOT
C.E 1.1 INTRODUCTION.
This episode highlights my final year project which was taken as a part of my bachelor degree. The project was to design and fabricate a delta robot that works on the principle of parallel robotics using servo motors. It helped me in understanding the advance concepts of electro-mechanical control systems.
C.E 1.1.1 Chronological dates.
The project commenced in August 2012 and was completed in June 2013 at FAST-National University of Computer and Emerging Sciences, Peshawar, Pakistan.
C.E 1.1.2 The Geographical Location where the Experience was gained.
The project was a mix of hardware and software. I used our university’s electrical workshop to carry out most of the hardware related work. After conceiving
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Delta robot is a type of parallel robot that usually has three legs connected to a platform using a universal joint. All three legs are 120 degrees a part. The key part of the robots design is the use of parallelograms that decides the orientation of the end …show more content…
For motors I had stepper motors and servo motors. Considering the performance, cost factor and availability I decided to use servo motors. Another advantage that I had in using a servo motor was that they are feedback controlled and in delta robots having a feedback system adds to the stability of the system.
There are two types of servo motors i.e. analog and digital servo motors. Digital servo motors have higher resolution and higher torque values over very small angular movements as compared to analog motors. Although there is a performance difference between the two but the configuration of motors in delta robot reduces this lag as all the motors move in the same directions.
After intense research for servo motors, Blue Bird BMS-L530 MG analog servo control motor came out to be the best choice in its price range. It had a torque of 198 N-cm which was enough to easily manipulate the end effectors considering its weight. As for the minimum requirement of motors torque, total weight was:
Weights:
Leg F_1 J_1=10g Weight of plastic arm
Leg J_1 E_1=100g Weight of aluminium arm
End effector=150g Wooden platform
Total
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