Someone experience with Delta robots?


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    Member basparky's Avatar
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    Default Someone experience with Delta robots?

    I'm close to get some beer time and start thinking of building a delta robot

    I was wondering if anybody on this forum has some experience with this? I have found some nice videos on youtube from people who succeeded with this. While surfing i also found:http://forums.trossenrobotics.com/tu...nematics-3276/

    Great post about the needed inverse kinematics to solve the angles for the motors!

    I'm thinking about the following setup for the drives:
    - 3 leadshine closed loop stepper drivers. (microstepping)
    - 3 hybrid stepper motors. 8Nm. planetery gearbox 10:1 (or so)

    For the MCU i'm wondering if i need to split the needed tasks in several mcu's?
    I believe for the tasks it will be something like:
    1. Forward and reverse kinematics math based a setpoint serial given. (x,y,z).
    2. Stepperdrives control based on step and Dir. (max 200kHz for these drivers).
    3. Motion control? 3 * PID controller. Path planning?


    I have some good experience with the Proton24 compiler and succesfully used the dsPIC's a few time now.
    So. short story but hoping someone has some good tips for me.

    Thanks in advance.

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    Fanatical Contributor Tim's Avatar
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    Default Re: Someone experience with Delta robots?

    Sorry cannot help but just had to say. So cool! I would love to have one!

    Again sorry for not having any info
    Tim

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