Delta Robot

Project Title

Delta Robot

Project Area of Specialization RoboticsProject Summary

A delta robot is a type of parallel robot that consists of three arms connected to universal joints at the base. It can be used for multipurposes but it is commonly used for picking and placing the objects in factories.

Project Objectives

•To design a Delta machine to perform multi-functionality which provides  accurate object manipulation capabilities

•The final result expected from this project is the design and implementation of a delta machine that is able to pick and place objects using image recognition.

•The purpose of this new type of machine was to manipulate small objects, an industrial need at that time.

Project Implementation Method

The project is divided into three main groups:

i.Mechanical and hardware development

ii.System kinematics

iii.Software development

i.Mechanical and hardware development

Main frame can be designed in any Software like AutoCad or SolidWorks. It consists of a fixed base, a travelling plate and three kinematic chains that connect the fixed base to the travelling plate. 

ii.System Kinematics

The inverse kinematics is where all the calculations necessary are done in order to calculate the angles for the Delta robot. Its motion will be in three dimension. Therefore, the inverse kinematic is entirely dependent on the dimensions of the robot.

iii.Software Development

 Software development is divided into two sub-groups that are:

Kinematic Control and Image Recognition Implementation.

The Inverse kinematic calculations can be done in the Arduino IDE, where the position of the servos will be sent through there.

Image recognition uses the OpenCV library inside of the Python software. Furthermore, the python and OpenCV are responsible for collect the position of the object.

Benefits of the Project

Delta robots are designed to move at high speeds and perform repetitive tasks quickly and consistently. These robots can replace manual processes where many parts per minute are being picked, sorted and placed

Technical Details of Final Deliverable

·Design on Solidworks 

·Image processing on Raspberry Pi

·Arduino (We are using Arduino for controlling motors. We can also use Raspberry Pi for this purpose. But Raspberry pi is very expensive and in case of overload or any other fault, Raspberry pi can be damaged. Arduino is very very cheap and hence using the separate module for controlling motors can be beneficial in long term.)

·Servo Motors 

·Servo Grippers

·Motor Drivers

·Metal Arms

·Steel Body Framework

·Power Supply for Motors

Final Deliverable of the Project HW/SW integrated systemCore Industry ManufacturingOther Industries Medical , Petroleum , Agriculture , Food Core Technology RoboticsOther Technologies Internet of Things (IoT)Sustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	51300
NEMA 23 Stepper Motor	Equipment	3	4000	12000
Raspberry Pi 3 Model B+	Equipment	1	13000	13000
Stepper Driver CNC Controller Nema	Equipment	3	3500	10500
5MP Raspberry Pi Camera Module v1.3	Equipment	1	1500	1500
High Quality 12V DC 18A 220W Power Supply	Equipment	1	1800	1800
Conveyer Belt + DC Motors	Equipment	1	2500	2500
Frame Prototype Metal Price	Equipment	1	7000	7000
Frame Assembly	Miscellaneous	1	3000	3000