Delta Robot

Delta Robot

3 DOF Vision Guided Robotic Platform for Teaching and Research

ACROME Delta Robot is best-in-class robotic platform to understand parallel kinematic robotic fundamentals without the barriers.

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OVERVIEW

ACROME Delta Robot, with its accessible and student-familiar components, can empower your robotics and automation laboratory. Completely open-source software makes it possible for students and researchers to modify, create and test their own algorithms for complex applications. With the extensive courseware students can easily understand the complex inverse kinematics algorithms and cover both motion control architectures and vision guided robotic jobs for industrial parallel kinematic applications. The courseware helps students learn robotic control and vision guidance from scratch and opens a door to the world of artificial intelligence, process optimization and Industry 4.0. 

ACROME Delta Robot can move parts by its magnetic end-effector so it is well suited for Pick-and-Place operations, which are performed millions of times per day by modern robots. 

Delta Robot overview

FEATURES

  • Assembled and ready to control plant with integrated camera and controller.
  • Getting Started Program with rich Graphical User Interface for out of the box user experience.
  • Implementation of advanced digital control,robotic and machine vision techniques.
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Magnetic and stylus end-effector options for Pick and Place and touch applications
  • Optional tablet add-on for digital factory applications.
  • Enables students to create their own real-time vision guided robotic algorithms.
  • Actuating the table by RC servo motors, which are familiar to students.
  • Open architecture with extensive courseware, suitable for undergraduate courses related to control and robotic curriculum.

CURRICULUM

  • Components of Delta Robot
    • Smart Servo Motors
    • PCB Board
    • Controller
    • Digital Camera
    • Acrome Power Distribution Box
    • Mechanics of the System
  • Forward and Inverse Kinematics Models
    • Forward Kinematics Model of Delta Robot
    • In Lab Exercise: Obtaining the inverse kinematics equations for Delta Robot
    • Inverse Kinematics Model of Delta Robot
    • In Lab Exercise: Obtaining the forward kinematics equations for Delta Robot
  • Trajectory Generation
    • General Considerations in Path Description and Generation
    • Cartesian Space Schemes
    • Joint Space Schemes
    • Cubic Polynomials
    • Higher Order Polynomials
    • Linear Function with Parabolic Blends
    • Implementation of Trajectory via In-Lab Exercises
  • Vision Acquisition and Image Processing
    • Image Calibration
    • Vision Toolbox
    • Pattern Matching
    • Image Processing Functions: Look-up Table, FFT Filter, Threshold etc.
Delta Robot spesifications
SPECIFICATIONS

 

Base dimensions (cam. calibrated)  

Ind. chrome shaft length 

Linkage rod length

Maximum payload

Motor arm length

Motor torque

Motor speed

Camera Resolution

 

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 370 x 350 mm

 240 mm

 193 mm

 100 gr

 65 mm

 7,4 V: 12 kgf.cm

 7,4 V:0,116 sec/60 degree

 1280*960 px. @ 30 FPS

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