DIY Delta robot

A DIY delta-type parallel robot controlled from a Python application with live kinematics visualization and Bluetooth connection.

Some folders have their own license: DeltaApp/src/ (GPL-3.0-only).

3D preview converted from github.com/grzesiek2201/Delta-Robot at 48a8038, under GPL-3.0-only. View the original files from GitHub (1.4 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Moves a delta robot by x, y, z coordinates or by joint angles theta1, theta2, theta3
Live visualization of the robot kinematics in a Python application
Offline simulation of robot configurations in different positions
Bluetooth connection with the robot
Jog mode for relative position control
Enabling and disabling motors, starting and stopping the program
Encoder calibration and homing
Changing TCP offset, jog step and Z axis limit

This repository has no parts list Robotheca can read yet.

The creator's steps, each with its instructions.

The guide appears here as you scroll.

Guide by @grzesiek2201 (README.md), under GPL-3.0-only.

Notes written by Robotheca from the project's documents.

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 48a8038. It isn't a rating of the robot.

3D and CAD files10/20
15 printable parts (STL, 3MF).
Add the CAD source (STEP, or the CAD program's own files) so people can change the design.
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation15/15
README of 1,548 characters with 7 pictures; 7 build steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: GPL-3.0-only; software: GPL-3.0-only.

Written by Robotheca from the project's documents.

Load the Arduino or C/C++ firmware from the Arduino code and delta_main_code folders onto the controller
Start the Python application from the DeltaApp folder
Connect the application to the robot over Bluetooth, or run it offline to simulate

Robotheca doesn't review code. Read it before running it.

Every file of the project: code, CAD, electronics, guides, at commit 48a8038.

Questions and improvements go to the creator's repository.