Author: VID PAVLOVIC
Company/Institution: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture (FAMENA)
Country: Croatia
e-mail: vidpavlovic0@gmail.com; vp228634@stud.fsb.hr
web: www.fsb.unizg.hr
Mentor: Prof. dr. sc. ZELJKO SITUM
e-mail: zeljko.situm@fsb.unizg.hr
A delta robot with three degrees of freedom of movement was designed and built, which, due to its construction and closed kinematic chain, has greater rigidity and can achieve higher operating speeds and accelerations and a high degree of reproducibility of positioning, but with a smaller working space. The robot on the receiver has a vacuum gripper and can be used for ‘pick and place’ operations, such as tasks of manipulating work items in the pharmaceutical or food industry and tasks in the product assembly process. The robot is controlled by an ESP32 microcontroller, in which inverse and direct kinematics are implemented, and the robot is controlled via serial USB communication. The robot is actuated by stepper motors. The simultaneous operation of all motors enables the movement of the vacuum gripper in the direction of all three controlled axes. The delta robot structure has a more complex kinematic and dynamic model and requires more complex control algorithms than the commonly used anthropomorphic robot structures, whose action is based on serial kinematics.