3D Printed DELTA Robot for Educational Purposes

Abstract

It is presented a new low-cost 3D printed Delta educational robot design. It consists of a movable platform, a fixed platform and 3 innovative links with rotary movable joints, which are manufactured already assembled using FDM 3D printing technology. The mechanical design of the robot is described and a geometric method for solving the inverse kinematics problem is given. It is described the method of manufacturing the components and hardware and software for controlling the robot. An experiment is conducted to study the repeatability of movements along a trajectory. Different possibilities for its application in the educational process are discussed.