Design of a Delta robot for pedagogical purpose

Details

Supervisors

Fisette, Paul ; Ronsse, Renaud

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique
Master [120] : ingénieur civil mécanicien, à finalité spécialisée

Abstract

The goal of this master thesis is to design of a Delta robot that will be used for pedagogical purpose. The robot will be used during the "Printemps des Sciences" to showcase to a young audience the capabilities of the Delta robots. The robot must be able to perform original and fun tasks by showing all its capabilities. This draft is the result of the first iteration of this master’s thesis subject. The emphasis is placed on precise dimensioning and design of the mechanical parts. The ultimate aim of this iteration is to provide a working basis so that future students working on the robot can implement numerous tasks. The Delta robot is modelled thoroughly to predict it’s geometric, kinematic, elastic and dynamic behavior. From these models and performance indices the kinematic parameters of the Delta robot are obtained for the prescribed workspace. A second stage dimensional synthesis, based on elastic deflection and required torques, yields the link dimensions. The detail design of the whole robot is discussed. The motors has been chosen first. The whole electronic system is then designed around the motor. The mechanical parts are then designed from the dimensioning and validated through FEM simulations. The assembly and the programming of the robot is presented. The code used an inverse kinematic model to computes the angles of the motor based on the trajectory and motion laws. A circle, a pick and place and a Helix trajectories have been tested. An IMU has been fixed to the end effector to record the acceleration. A 3D printed mouthpiece has been made to draw on a paper the result for the circle and the pick and place. A maximum acceleration and speed of 11, 245[g] and 5[m/s] have been recorded with the helix trajectory. The circle trajectory the problem with the PWM and draw a perfect circle with a radius of 0, 145[m] and not 0, 15[m] due to the fact that the angle value have rounded. The pick and place has shown 2[mm] of repeatability in the direction of the movement and the 1[mm] in the direction perpendicular to the movement. The thesis successfully presents an educational Delta robot, combining meticulous design, electronic integration, and programming for captivating demonstrations.