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Delta Robot

ACROME Delta Robot is best-in-class robotic platform to understand parallel kinematic robotic fundamentals without the barriers.

OVERVIEW

ACROME Delta Robot, with its accessible and student-familiar components, can empower your robotics and automation laboratory. Completely open-source software makes it possible for students and researchers to modify, create and test their own algorithms for complex applications. With the extensive courseware students can easily understand the complex inverse kinematics algorithms and cover both motion control architectures and vision guided robotic jobs for industrial parallel kinematic applications. The courseware helps students learn robotic control and vision guidance from scratch and opens a door to the world of artificial intelligence, process optimization and Industry 4.0. ACROME Delta Robot can move parts by its magnetic end-effector so it is well suited for Pick-and-Place operations, which are performed millions of times per day by modern robots.

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SOFTWARE

CONTROLLER

PRODUCT PHOTOS

SPECIFICATIONS

Payload

500 gr.

Workspace

150mm. (± 5mm.) in Triangular Formation [X, Y, Z]

Position Repeatability

± 1 mm.

Angular Sensitivity

0.36°

Max. Speed

1 part/second

Height / Weight

300mm. (± 2mm.) / 2,500 gr.

Platform Dimensions (Length * Width)

20mm. (± 1mm.)

Base Dimensions (Length * Width)

405mm. x 220mm. (± 2mm.)

Power Requirement

12 V - 5 A

Magnet Diameter

20mm. (± 1mm.)

Motor Type

RC Servomotors with Built-In Encoder

Feedback Sensors

Camera (1280px - 960px)

FEATURES

Assembled and ready to control plant with integrated camera and controller
Implementation of advanced digital control,robotic and machine vision techniques
Magnetic and stylus end-effector options for Pick and Place and touch applications
Enables students to create their own real-time vision guided robotic algorithmsa
Open architecture with extensive courseware, suitable for undergraduate courses related to control and robotic curriculum
Getting Started Program with rich Graphical User Interface for out of the box user experience
Fully compatible with MATLAB®/Simulink® and LabVIEW™
Optional tablet add-on for digital factory applications
Actuating the table by RC servo motors, which are familiar to students

FAQs

What is Delta Robot?
The Delta Robot is a 3-Degrees of Freedom precision parallel robotic arm. In general it is moving its end-effector in X, Y, Z coordinates.
What is a Delta Robot used for?
Delta Robots are mostly used for pick & place sorting operations. They can also be used for 3D printing and touch interaction operations.
How many degrees of freedom does a Delta Robot have?
3-DOF or more. Mostly X, Y, Z and combination of X & Y and rotation motions. ACROME Delta Robot uses the X, Y, Z method.
Can I use a custom motion pattern? How?
The example software have a built-in kinematics solver. The user only needs to send the desired 3-DoF coordinates to create a custom motion pattern.
Does the product comes with a controller and software/courseware?
Product comes with the controller and software. Courseware is optional with choice of the programming language.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.

CURRICULUM

COMPONENTS OF DELTA ROBOT
Smart Servo Motors
PCB Board
Controller
Digital Camera
Acrome Power Distribution Box
Mechanics of the System
FORWARD AND INVERSE KINEMATICS MODELS
Forward Kinematics Model of Delta Robot
In Lab Exercise: Obtaining the inverse kinematics equations for Delta Robot
Inverse Kinematics Model of Delta Robot
In Lab Exercise: Obtaining the forward kinematics equations for Delta Robot
TRAJECTORY GENERATION
General Considerations in Path Description and Generation
Cartesian Space Schemes
Joint Space Schemes
Cubic Polynomials
Higher Order Polynomials
Linear Function with Parabolic Blends
Implementation of Trajectory via In-Lab Exercises
VISION ACQUISITION AND IMAGE PROCESSING
Image Calibration
Vision Toolbox
Pattern Matching
Image Processing Functions: Look-up Table, FFT Filter, Threshold etc.

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