Stepper Delta Robot

thingiverse

This is an awesome little delta robot, primarily made from 3D printed parts with no special components required. The delta robot relies on four stepper motors to move. https://youtu.be/kSbgZ-DwsjM <h1>Parts Required</h1> 1x Arduino UNO 1x CNC shield 3x 28byj-48 Stepper motor 3x Limit switch 6x Springs 6x M3 nuts 30x M3 screws 3D printed parts 1x base 3x arms 6x connecting rods 3x parallels 1x platform <h1>Printing</h1> The parts do not need to be printed with high quality, but it makes a difference. Some of the robot's components are difficult to print because they're spheres. When printing starts, the spheres don't have much to start printing on. After experimenting, I found that dropping the part down into the bed by 0.2-0.3mm (Z=-0.2 or -0.3mm) works better. After the prints are finished, it's best to file/sand the sphere and the sphere socket to make them smooth. Avoid taking too much off. <h1>How It is Assembled</h1> Starting from the top and working down, the robot starts with the base. The base is where the motors and limit switches are mounted. The base will also be used to hold the robot while in operation. The limit switch will be used to HOME the robot. After the motors and limit switches are mounted, the arms can be attached to the motor. Ensure the arm is the correct way around with the notch facing away from the robot. Next, assemble the connecting rods. The connecting rods connect the arms/motors to the platform. Connect the parallel 3D part to the middle of two connecting rods with M3 screws. It's best if you first drill the parallel 3D part with a 3mm to make the screw more smooth. The parallels ensure the connecting rods don't rotate out of the sockets. Next, add two springs to the connecting rods, one at the top and one at the bottom, going between each side. The springs help the spheres of the arms and the platform stay within their socket. After the connecting rods are assembled, they can be attached to the robot. One at a time, attach them to the motor using the M3 screws. Make sure they're securely attached. <h1>Keep up to date</h1> New parts will be added, keep up to date by following: Project page -> https://tinkersprojects.com/stepper-delta-robot/ YouTube channel -> https://www.youtube.com/channel/UCaKP_tvYR-g-a7-40U1djMg This Thing -> https://www.thingiverse.com/thing:4294731 My Profile -> https://www.thingiverse.com/haybailes/about Twitter -> https://twitter.com/TinkersProjects