The purpose of this application was to build a model of a delta robot for educational and didactic purposes. Moreover, one of the main assumptions of the project was the low-cost (low-cost) of the whole construction, thanks to which – potentially – it is an example of the possibility of implementing low-cost and common automation, especially for those companies that often do not need parameters characteristic for strictly industrial solutions. Ideal in this case – in terms of mechanics – turned out to be solutions from Igus, which I received as trade show samples and components within the YES program. To demonstrate that the robot can solve a specific practical problem, I added a turret feeder and a Raspberry Pi minicomputer to the model. In conjunction with the camera it detects the colors of the discs being fed, which are then picked up by the actual robot and placed – already in an orderly fashion – on a specially 3D printed drawer. I invite you to read a more complete description („DELTA_description.pdf“) and the movie „film.mp4“.

Due to the nature of the competition, I will focus on the basic problem related to the mechanics of this type of robots, namely the ball joints that oscillatingly connect the arms coming off the motors with the effector (to which in my case I attached the vacuum suction cup). The surface of the head and socket must have a high coefficient of friction (resistance to change of position should be as low as possible) and at the same time lack of play (even a small angular play translates into a serious clearance at the working end, of the order of millimeters). Both these criteria were met by your joints, exactly numbered WGRM-06-LC-MS. In addition – although I received them free of charge as part of YES – it should be noted the attractive price, which is a huge plus in the case of similar solutions built for industry. The joints work very quietly – and – which is also important – do not require lubrication, they work „dry“ from the beginning of the robot assembly; Ill also add that thanks to your components Ive solved two other mechanical problems – the first one is running the cables from the controller to the control panel (I put them in an orange mini e-guide), the second one is the need to adjust the camera which is placed over the turret table – here I used a piece of low-profile N-series dryliner.

Due to the nature of the application (teaching and demonstration), it is not possible to assess the process-cost optimization, but as I mentioned, I solved three issues in my project with products from your range, the most important of which was the use of low-cost and lubrication-free WGRM series ball joints, which perform perfectly in the required application.

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Anticipated savings: € not applicable (educational project))

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