Delta Robot v1 with four arms

by i-make-robots, published

Delta Robot v1 with four arms by i-make-robots Feb 4, 2013
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All my designs & progress available @ Marginally Clever
Scale model of a 4 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 four sets of http://www.pololu.com/catalog/product/733
Acquire four hobby servos. I used TowerPro SG5010.
Acquire an Arduino UNO or better.
Acquire a 9v1a power supply.
Acquire a small breadboard.
print one end effector, four bicep, and four mounting brackets.
CAUTION! Mounting brackets in the pictures are flipped on the X axis. The uploaded model has been corrected. Your robot should look like a mirror image of this one.
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
after you change NUM_ARMS to 4.
Share your experience in our forums @ http://marginallyclever.com/forum/

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I love this design for a Delta robot. Do you know where I can find a 3d printer that uses this format with Nemas?

I don't know anyone who makes a four arm delta printer. The fourth arm usually causes problems and the designers removed it.

I understand. What about a Reprap 3 armed one?

Look at the FirePick Delta or the OpenBeam Kossel.

thanks for sharing your project. Two years ago or so I also thought into that direction, but I didn't find advantages in it. Which advantages do you see?
My result was: Since the system is overdefined (it maps xyz into a four dimensional space) mechanical wear is inevitable if calibration and sizing of parts are not 100% precise. Moreover, any hanging servo will cause severe damage to the structure. A tripod is by far more stable and fault tolerant.

Great comment!

I built it to demonstrate the similarities, both in the physical structure and in the software. The disadvantages are many (as you correctly listed). I only make a 3-arm delta robot right now.

Wow. How long as the bicep file been missing from this project? Mysteries of the time.

hi nice job! can you tell me where you found a small joints in plastic material, I would build one thanks

uploaded the missing part. is that what you meant?

Comments deleted.

hello!! where do you get the bushing and coupling for the arms?

Hi, this delta robots looks great! Do you plan to release all the stl files?

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

This is cool.

Why not flip the brackets and re-upload them?

it was very late and night and i was already in bed. I didn't think to use meshlab to flip it.