This is a work in progress !

This robot is my first try at the delta structure, I designed this robot with these requirements :

  • Use the hardware I already own
  • Be as small as possible
  • Quick to print
  • Check with an existing inverse kinematics
  • Then try to make my own
  • No vision for the moment

It currently uses this library to do the inverse kinematics: https://github.com/tinkersprojects/Delta-Kinematics-Library

Bill of materials :

  • 3 stepper motors 28BYJ-48 with ULN2003 drivers
  • 3 Endstops
  • 1 Arduino Nano
  • 1 Electromagnet
  • 1 transistor NPN 2N2222
  • 12 ball magnets
  • 1m long wood stick of diameter 6mm
  • 1m long wood stick of diameter 10mm
  • White PLA
And here you can see how it moves