Delta Robot - Prototype #2 - Nina Robot version 0.2

Hi, the video shows my second delta robot model. That is the output of the third development sprint (see note 0 below). I have designed the parts (see note 1) and printed them in my home printer. I'm using my own firmware wrote in C++. In this sprint version, the motors' control do not provide an explicity acceleration or deacelleration (accel/deacell is part of the next sprint). The focus on this sprint was provide a linear motion control. With linear motion, the end-effector performs a straight line trajectory. In the case of Delta Robots it is achieve by controlling the motors's speed according to the delta's speed kinematic model (see note 2). As expected, I'm getting some noise and vibration resulting in accurancy issues. It is not surprising. Those issues will be addressed in the next sprint with a set of experiments to check the end accurancy and overall performance.
Note 0 - In the first sprint the structure of the robot itself and the frame were designed from scratch without eletronics. In the second sprint the eletronics were included and the first version of the firmware was coded in order to perform basic no linear movements.
Note 1 - I have designed the parts using OpenScad. I'm printing in my Sethi3d printer and used cura and slic3r to generate the gcode.
Note 2 - More details about Delta Robots kinematics can be found here: https://www.researchgate.net/file.PostFileLoader.html?id=58bd7d14404854027f09f5d0&assetKey=AS%3A468931250003970%401488813330544

Видео Delta Robot - Prototype #2 - Nina Robot version 0.2 канала Luiz doleron