Short Title: Int. J. Mech. Eng. Robot. Res.
Frequency: Bimonthly
Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
2024-10-25
2024-09-24
Manuscript received August 25, 2023; revised October 10, 2023; accepted November 8, 2023; published February 15, 2024.
Abstract—This paper presents the implementation, trajectory planning, kinematics, and experimental validation of an open-source 3D-printed delta robot manipulator. The robot’s hardware consists of three servo motors, an Arduino Uno microcontroller, and a Pulse Width Modulation (PWM) servo module. The software includes a trapezoidal velocity profile planner and an inverse and forward kinematics solver to calculate the motor angles required to achieve a desired end-effector position in task space. The 3D printed parts were obtained from an open-source Thingiverse project and assembled to form the robot’s kinematic structure. The robot’s performance was evaluated in terms of its accuracy, repeatability, and maximum speed for a pick-and-place task. Experimental results show that the robot can achieve a positioning accuracy of 2.2 mm, with a top speed of 0.4 m/s, 30 picks per minute, and load carrying capacity up to 200 g. These results are satisfactory, considering the ease of assembly and the cost-effectiveness of the robot. The comparison of the calculated motor angles with actual motor angles obtained through additional potentiometer wires soldering shows promising results. The proposed robot’s cost-effective characteristics, utilization of open-source additive manufacturing, and motion planning algorithms make it suitable for various applications, including education, research, and small-scale industrial applications.Keywords—robotics, delta robot, trajectory planning, kinematics, workspace, additive manufacturingCite: Abu-Alim Ayazbay, Gani Balbayev, Sandugash Orazaliyeva, Konrad Gromaszek , and Algazy Zhauyt, "Trajectory Planning, Kinematics, and Experimental Validation of a 3D-Printed Delta Robot Manipulator," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 1, pp. 113-125, 2024.Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.
