Delta Robot v1 with three arms

by i-make-robots, published

Delta Robot v1 with three arms by i-make-robots Jan 24, 2013
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All my designs & progress available @ Marginally Clever.
You can buy the updated version of this kit
Mention in Forbes
Scale model of a 3 armed delta robot used in automated manufacturing. I'm looking for better ball joints. A universal joint that mates to M3 would be fantastic.
If you use one of my designs, please let me know! I'd love to see what you make with it and share with others who are interested.


Kit with all parts available at http://marginallyclever.com.
Acquire three sets of http://www.pololu.com/catalog/product/733
Acquire three hobby servos.
Acquire an Arduino UNO or better.
Acquire a 9v1a power supply.
Acquire a small breadboard.
print one end effector, three bicep, and three mounting brackets.
Assemble as in the photographs. Hot glue the servo horns onto the biceps.
Upload the code from the github project @ https://github.com/i-make-robots/Delta-Robot
Share your experience in our forums @ http://marginallyclever.com/forum/

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Hi Makers!
I used this model in project Oktopod Studio http://www.oktopodstudio.com
Dear Dan Royer, thanks for the model. Our first run you can see on https://www.youtube.com/watch?v=LosqAfxbljM

This kit has had a major overhaul. The next edition is available
through my store right now and will be released on thingiverse on or
about october 18.

Are you going to upload the v2 design? October 18th has passed... I'm probably going to build this version anyway if v2 isn't posted, but I have access to a lasercutter.

There seems to be a lot of demand for delta robots, so I've been overhauling the design for a v3. I should have news before march. about the date... http://www.hollywoodreporter.com/live-feed/community-premiere-date-addressed-380346http://www.hollywoodreporter.c... is all I can say.

The round hole looks perfect to use the RepMan toolhead mounting.
That would e.g. make it compatible with the existing Dremel milling head and the BfB extruders. (Can't hurt )

Great work. Your design with the three baseplate giving the perfect angle inspired me to resume my delta robot project. I haven't build it completely yet, but have printed the base (needed to file them a little bit for them to fit together, but not much), mounted the servos and made an improvement of the biceps (http://www.thingiverse.com/thing:44656)http://www.thingiverse.com/thi...

To be continued.... :-)

Biceps to Delta Robot
by ahd71

If you're looking for something to do, redesign the bicep I made so that the inset for the servo horn is on the "top". In the current model the inset creates a large overhang that some printers (including mine) have trouble with. I will bow to your model-fu if you can do it with less plastic.

First off, shame on you for beating me to this design. I have the exact ball joints and threaded rods sitting here on my desk waiting for me to finish printing a design I'd been working on. I guess I'll have to throw in with you now.

Second - some questions:

  1. How do those servos stay put? I'm guessing friction right now, maybe even glued?
  2. Can share some of your print settings for the photographed parts?

Shame? On ME? The only shame is that I made one out of aluminum (http://letsmakerobots.com/node/27651)http://letsmakerobots.com/node... before I had a 3D printer.

  1. The servos stay put because they're told to stay put. With no power the gear ratio is still so high that they don't move. If you mean the servo horns on the biceps... hot glue. I'll add it to the instructions.

  2. What do you mean, print settings? Everyone's 3D printer is different. I used 0.4 infill, if that means anything. I had to file some of the base pieces to make them fit. There's an indent on the biceps meant to match the horns but the overhangs didn't print well at all. I need to redesign around this problem.
  1. I guess the question was how the servos was fixed to the base plate - and I have the answer :-) Friction, I printed (in PLA) and mounted servos and it is very tight like they were glued but they aren't. The "innerwalls" was/is a great design to give a little bit of flex.

The inner walls was intended to save ABS. No point filling 40% of wasted space with valuable plastic, right?