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Designing and developing the kinematic model and a user interface for the delta robot's manual operation mode

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The purpose of this thesis project is to design and construct a kinematic model and arnuser interface for the Delta Robot?s manual operation mode. The kinematic modelrnwas built based on the reference model obtained from an internet forum whichrncontaining the kinematic scheme of the Delta Robot. The kinematic model was thenrndesigned, constructed, assembled, and finally tested manually in order to checkrnwhether all movements in which a Delta Robot should be capable of can be donernwithout a problem. The user interface was made so that the user can command eachrnmotor to certain angular position freely, monitor its torque and present position status,rncheck lower platform?s position in Cartesian Coordinates, and execute a point-to-rnpoint step movement. This was done by first researching the Dynamixel motor accessrnprotocol, implementing the forward kinematics, and finally determines the strategy forrnthe step movement. As conclusion, all goals have been completed since the userrninterface can communicate well, and the mechanical model also works well withrnsome limitation.

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Availability

B00886

(wh)

Available

Detail Information

Series Title

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Call Number

886

Publisher

: Swiss German University., 2011

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

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Carrier Type

-

Edition

-

Subject(s)

MT

Specific Detail Info

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Statement of Responsibility

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