3D Printed Delta Robot (Arduino Controlled) 2019

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I have always loved how delta robots move and wanted to have a go at calculating the inverse kinematics required so designed and built one.

The delta robot uses an Arduino Nano as the control board and a HC-05 module so it can be wirelessly controlled via Bluetooth. A variety of commands can be sent to it, allowing it to be jogged in the X, Y and Z axis; jump to new coordinates; set the effect effector rotation speed; store and replay movement.

A 11.1V Li-Po battery along with the Bluetooth module means it is completely wireless so can easily be set up anywhere. The battery voltage is monitored and a warning will be sent over the serial connection when it is running low.

At full extension the delta robot measures 300mm high and has a maximum width of 330mm. It only weighs 0.658kg.

The robot is almost entirely 3D printed except for the servos, electronics and bolts making it a relatively cheap robot to make.

The Delta robot project is open source with the code and STL files available on my GitHub repository and Thingiverse respectively.

Links:
Youtube:    / isaac879  

Instagram:   / isaac879  

GitHub: https://github.com/isaac879/Delta-Robot

Thingiverse: https://www.thingiverse.com/thing:346...

Website: https://isaacchasteau.wixsite.com/pro...

How to modify a SG90 micro servo for continuous rotation: https://www.instructables.com/id/How-...

How to change the settings on the HC-05 Bluetooth module: https://www.instructables.com/id/AT-c...

Other Delta robots I like:
   • ESP32 Delta Robot Sorting Golf Balls ...  
   • Raspberry Pi Delta Robot Builds A Tower  
   • Mini Delta Robot with background nois...  
   • iPhone 5S Controlled by Arduino Delta...  
   • Delta Robot  
   • Table tennis playing robot breaks wor...  

Components:
3x HJ S3315D Robot Servo (With brackets and bolts)
1x SG90 9g Micro Servo (With servo arms and screws)
1x Arduino Nano
1x Buck Voltage Regulator (Needs to be able to take 12.6V input and output ~5A at 6V)
1x HC-05 Bluetooth Module

12x M3 Ball studs (4.8mm ball, M3 thread, 10mm thread length)
24x M3 Button Head Hex Bolts 8mm (12x if you just use 2 on each bracket)
2x M3 Button Head Hex Bolts 12mm
26x M3 Nyloc Nuts
6x Tension springs ~20mm long
4mm ball bearings
PLA for 3D printing

1x 3S 11.1V 1000mAh 20C Li-Po with JST connector
1x Switch
2x 33k resistors
1x 22k resistor
1x 15k resistor
1x 1000uF electrolytic capacitor
1x 330uF electrolytic capacitor
1x Servo extension cable
Female headers for the Arduino, HC-05 Bluetooth module
Male headers for the servos and Arduino Nano
Protoboard
Wire
JST connector for the battery

Credit:
Written by: Isaac Chasteau
Directed by: Mr I Chasteau
Hosted by: Isaac C
Edited by: Isaac A D C
Produced by: Mr Chasteau
Technical Director: Isaac Alexander Donald Chasteau
Lighting technician: Mr I A D Chasteau
Sound technician: Isaac A D Chasteau

Music:
Motocross – Topher and Alex Elena
New Land – ALBIS
Echinoderm Regeneration – Jingle Punks
Patent Doll – Freedom Trial Studio