Helium Frog Delta Robot
This page is a development stub. Please enhance this page by adding information, cad files, nice big images, and well structured data!
Release status: unknown
| Description | HeliumFrog Delta Robot
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| License | unknown
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| Author | |
| Contributors | |
| Based-on | |
| Categories | Reprap Delta
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| CAD Models | Yes (See Website)
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| External Link |
Introduction
The Helium Frog Delta Robot is being developed to examine the possibility of a self replicating delta style robot. The initial design will be used as a test bed for software development and to establish the accuracy of the mechanism compared to the RepRap Mendel.
Initially the robot will be equiped with a pen holder or similar to measure the accuracy and in further developments an extruder will be added.
The working envelope is 200mm diameter by 200mm high
The electronic system is likely to be Arduino Mega based. Stepper motor drivers will be pololu based. The motors will be Nema 17 Model(SY42STH47-1684B)
CAD Design
The design work is bieng carried out on Catia V5 and will enable a full envelope clash study and to check the limits of movement for the flexible "Rose" joints. CAD Models in .stl format are available from the Helium Frog website.
Current Status
CAD work is almost complete and rapid prototype parts are printed.
Assembly of the robot is now complete. There appears to be some twist in the centre platform which is only controlled by the lead screws. An extra vertical linear bearing may need to be added at each corner. The simplest method to acomplish this would be to sleeve the outer M8 rods and modify the vertical carriage with two extra bearings to run either side. The design may only require one of the corners to have this modification.
Trials will be conducted before any changes to determine whether M10 lead screws are required to improve axis speed as this would also require a redesign of the carriage assembly.
CAD work has begun on a spring loaded pen holder. This will hold a Bic style pen vertically and enable the robot to draw lines on a flat sheet of paper taped to the base.
Software is bieng developed by the German Reprap community.
Links
There is discussion and concurrent work streams in both English and German. Please see the links below for further information.
Delta robot and software development forum 1 - German
Delta Robot and software development forum 2 - German
- This and the SpoonPod and Viktor's tripod repstrap demonstrator have more-or-less the same kinematics, so hopefully they can share identical software/firmware.
