DIY Delta robot

For your daily needs

This repo gives a brief (for now) explanation about designing, modeling, building, wiring and programming delta type robot.

What does this repository include?

• Application controlling the robot with live visualization of the kinematics written in Python
• 3D model of the whole robot, as well as 3D models of all the parts that need to be printed
• BOM
• Build instructions
• Inverse and Forward Kinematics equations with derivation

Features

• Both online and offline working mode - in offline you can simulate the robot's configuration in different positions
• Bluetooth connection
• Basic manual control by providing x,y,z coordiantes or
• Basic relative position control in Jog mode
• Enabling/disabling motors
• Starting/stoping the program
• Encoders calibration
• Homing
• Changing TCP offset and Jog step
• Changing Z axis limit
• Live robot kinematics visualization
• Live TCP displacement plot in x,y,z coordinates
• Live joints displacement plot in angular coordinates
• Creating and manipulating robot programs, saving, opening and editing. Points can be set either by manually typing in the coordinates or by a teach-in method, in which you hold the robot in a certain position and take it's current configuration as a point's coordiante

Pictures and screenshots presenting the robot and application

Main screen	Collision detection
Work envelope	Real robot
Joints plot	Program creator
Kinematics drawing