Delta Robot

thingiverse

This is the initial upload of this robot giving it its fundamental functions. Subsequent uploads will be arriving shortly with a diverse range of heads to attach to the effector so keep an eye on things! Currently considering grippers, camera, torch, magnet...any ideas would be more than welcome! The robot is controlled using a program I've written in Processing, I am currently writing a tutorial on Instructables for the assembly of the robot and its control. For this project you'll need to print 3 DeltaRobotArm.stls, 1 DeltaRobotEffector.stl, and 24 DeltaRobotSpacer.stls. You'll also require: 6 Aluminium Rods 12 Rose Joints to go on the Rods 6 Steel Threaded Rods Nuts 3 HS805BB Servos Arduino Some Stand to place it on Print Settings: Rafts: No Supports: No Resolution: 0.3 Infill: 20 Notes: Printed on my Prusa i3. Adjust the infill especially of the arms to enhance strength of the print, however with a large infill the print takes an eternity!! I printed with ABS at 235 with the heated bed at 100 using Kapton Tape with Acetone ABS Glue to prevent warping. As the arms are quite lengthy and narrow warping can occur so try to either add a brim or keep the print warm in an enclosure. Post-Printing Finishing your print: After using Acetone ABS Glue you may find your print is stuck to the bed like a determined barnacle. This is both a blessing and a curse as you have had no warping hopefully but it's stuck there! Try going round the edges with a knife or use a filler chisel/wallpaper stripper to get underneath your print. Good luck! Once your print is off the bed, you can remove and brim with a knife if you printed with brims. Then sand the print using gradually finer paper to achieve a great finish. Drill out the holes in the prints to accommodate the size of rods and bolts you used. I utilized 3mm bolts to attach the servo arm to the delta robot arm. I also employed 6mm Steel threaded rod.