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REFERENCE CUSTOMERS
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.
X and Y Axis +/-60 mm Z Axis +/-50 mm Roll, Pitch, Yaw +/- 20°
Up to +/-300 mm Up to +/-150 mm Up to +/- 45°
Position Repeatability
+/- 100 µm
Down to +/- 25 µm
Angular Sensitivity
0.2°
Down to 0.1°
Max. Linear Speed
40 mm/sec.
Up to 80 mm/sec.
Height (min-max)
406-506 mm
330-920 mm
Platform Diameter
350 mm (hexagonal)
250-1000+ mm
Base Diameter
450 mm (hexagonal)
450-1000+ mm
Weight
14 kgs (31 lbs)
Based on custom options
SPECIFICATIONS
Payload
500 gr.
Workspace
150mm. (± 5mm.) in Triangular Formation [X, Y, Z]
Position Repeatability
± 1 mm.
Angular Sensitivity
0.36°
Max. Speed
1 part/second
Height (min-max)
Height
300mm. (± 2mm.)
Rod Height
Platform Dimensions (Length * Width)
250mm. x 165mm. (± 2mm.)
Base Dimensions (Length * Width)
405mm. x 220mm. (± 2mm.)
Weight
2,500 gr.
Propeller Wingspan
Ball Diameter
Magnet Diameter
20mm. (± 1mm.)
Rod's Diameter
Motor Type
RC Servomotors with Built-In Encoder
Feedback Sensors
Camera (1280px - 960px)
Power Requirement
12 V - 5 A
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 algorithmsa
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
FAQs
What is Delta Robot?
The Delta Robot is a 3-Degrees of Freedom precision parallel robotic arm. In general it is moving its end-effector in X, Y, Z coordinates.
What is a Delta Robot used for?
Delta Robots are mostly used for pick & place sorting operations. They can also be used for 3D printing and touch interaction operations.
How many degrees of freedom does a Delta Robot have?
3-DOF or more. Mostly X, Y, Z and combination of X & Y and rotation motions. ACROME Delta Robot uses the X, Y, Z method.
Can I use a custom motion pattern? How?
The example software have a built-in kinematics solver. The user only needs to send the desired 3-DoF coordinates to create a custom motion pattern.
Does the product comes with a controller and software/courseware?
Product comes with the controller and software. Courseware is optional with choice of the programming language.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.
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
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SPECIFICATIONS
*We offer customization in our product upon customer’s request.
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