Diseño, fabricación y funcionamiento de un robot delta de bajo costo

Abstract

This paper shown an experimental design, manufacturing and performance methodology for open-architecture robotic using emerging technologies. Therefore, We build a parallel robot prototype called delta robot that consisting of a closed kinematic chain. One of the critical operation of this system is on the link synchronization, so that the motions generated a valid trajectory to avoid damage to any part of the mechanism. In the computer-aided design Blender®, 3D printers in the manufacturing with polylactide and acrylonitrile butadiene styrene material and the Python® game engine for programming has been used. Also, serial communication interface, 10 bit analogic digital conversion and pulse-width modulation with the MSP430 embedded system was used. The products confirm a low-cost manufacturing, mechanical strength in the parts for testing and the simulation compared to the real system for the movements through the z axis of the end effector. Accordingly, these results to create robotics systems with disposable or easy replacement to low-cost as a useful tool for the research is opened.