Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
2024-04-30
2024-02-24
2024-01-04
Manuscript received August 25, 2023; revised October 10, 2023; accepted November 8, 2023; published February 15, 2024.
Abstract—This paper presents the implementation, trajectory planning, kinematics, and experimental validation of an open-source 3D-printed delta robot manipulator. The robot’s hardware consists of three servo motors, an Arduino Uno microcontroller, and a Pulse Width Modulation (PWM) servo module. The software includes a trapezoidal velocity profile planner and an inverse and forward kinematics solver to calculate the motor angles required to achieve a desired end-effector position in task space. The 3D printed parts were obtained from an open-source Thingiverse project and assembled to form the robot’s kinematic structure. The robot’s performance was evaluated in terms of its accuracy, repeatability, and maximum speed for a pick-and-place task. Experimental results show that the robot can achieve a positioning accuracy of 2.2 mm, with a top speed of 0.4 m/s, 30 picks per minute, and load carrying capacity up to 200 g. These results are satisfactory, considering the ease of assembly and the cost-effectiveness of the robot. The comparison of the calculated motor angles with actual motor angles obtained through additional potentiometer wires soldering shows promising results. The proposed robot’s cost-effective characteristics, utilization of open-source additive manufacturing, and motion planning algorithms make it suitable for various applications, including education, research, and small-scale industrial applications. Keywords—robotics, delta robot, trajectory planning, kinematics, workspace, additive manufacturing Cite: Abu-Alim Ayazbay, Gani Balabyev, Sandugash Orazaliyeva, Konrad Gromaszek , and Algazy Zhauyt, "Trajectory Planning, Kinematics, and Experimental Validation of a 3D-Printed Delta Robot Manipulator," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 1, pp. 113-125, 2024. Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.