DIY Delta Robot using stepper motors - 1st Demonstrator
This is a presentation showing an unfinished prototype of a self-built delta roboter. It's a hobbyist project whose focus laid on writing the control software. The hardwares purpose is to act as an demonstrator so one can check the function of the software easily. Hence, stability issues and mechanical accuracy were not of much concern.
The software:
... is bare-metal C code which is about to get refactored to object-oriented C++ code. With the exception of a fixed-point-math library and the vendors startup code, hardware abstraction code and linker script, all the code is self-written.
Hardware:
- Maple Mini Clone from Ebay with an STM32F103C8T6 ARM-Cortex M3 MCU. These are typically sold for 3 USD/piece.
- Pololu DRV8825 stepper motor control boards: http://www.pololu.com/product/2133
- PSM57BYGHM201 stepper motors with 0.9 deg step angle, 0.9 Nm holding torque, 1.7A max current: http://www.pollin.de/shop/dt/NTQ1OTg2OTk-/Bauelemente_Bauteile/Motoren/Schrittmotoren/Schrittmotor_PSM57BYGHM201_0_9_.html
- 6.35mm mounting sets (german: Spannsätze): http://www.maedler.de/article/61540635
- Igus KDGM-06-A-SR bearings (german: Doppelgelenklager): http://www.igus.at/wpck/7164/igubal__Doppelgelenklager_KDGM
Видео DIY Delta Robot using stepper motors - 1st Demonstrator канала Wan Mag
The software:
... is bare-metal C code which is about to get refactored to object-oriented C++ code. With the exception of a fixed-point-math library and the vendors startup code, hardware abstraction code and linker script, all the code is self-written.
Hardware:
- Maple Mini Clone from Ebay with an STM32F103C8T6 ARM-Cortex M3 MCU. These are typically sold for 3 USD/piece.
- Pololu DRV8825 stepper motor control boards: http://www.pololu.com/product/2133
- PSM57BYGHM201 stepper motors with 0.9 deg step angle, 0.9 Nm holding torque, 1.7A max current: http://www.pollin.de/shop/dt/NTQ1OTg2OTk-/Bauelemente_Bauteile/Motoren/Schrittmotoren/Schrittmotor_PSM57BYGHM201_0_9_.html
- 6.35mm mounting sets (german: Spannsätze): http://www.maedler.de/article/61540635
- Igus KDGM-06-A-SR bearings (german: Doppelgelenklager): http://www.igus.at/wpck/7164/igubal__Doppelgelenklager_KDGM
Видео DIY Delta Robot using stepper motors - 1st Demonstrator канала Wan Mag
Показать
Комментарии отсутствуют
Информация о видео
Другие видео канала
Delta robot: the final prototypeDelta X - The First Open Source Delta Robot Kit In The World - FullToy Picker Robot using Arduino and Rapsberry PiStepper motor robot arm controlled with grbl and bcncSimplified Delta Robot Kinematic EquationsTop 10 Arduino projects all the time । Amazing Arduino school projects genius youtuberOmron's Adept Hornet 565KINEMATICS | Serial robot vs. Parallel robot3D Printing Beginners Guide (Hardware) - 400$ DIY Delta 3D Printer kitDelta robotHigenMotor Delta Robot Introduce"uStepper" robot arm testDelta robot cnc testDelta Robot Drawing MachineTOP 10 Stepper Motor Projects of All TimeSmall Stepper Robot Arm Shuffling Sugar CubesHow does a delta robot kinematic work?4 Delta Robots Pick & Pack Food Pouches in Automated Top Load Cartoner - StrongPoint AutomationMirobot and Dobot-Let's build a Chess production lineAcrome Delta Robot