[PYTHON] I made my own parallel link robot (mechanical edition)
Parallel link robot production (mechanical edition)
A memo for making a parallel link robot, also known as a delta robot.
Make miniatures with lego
At first glance, I felt that it was difficult to understand the mechanism of the operation mechanism of a parallel link robot with a closed link structure, unlike a serial link robot with an open link structure. So, before I suddenly started making a robot that runs on a motor, I decided to make a simple miniature model with Lego.
When I searched for "Lego parallel link robot", I found the following site, so I created it with reference to this. http://legokarakuri.blog91.fc2.com/blog-entry-15.html
I bought the parts one by one at the following site. https://www.brickers.jp It is very convenient because you can purchase the LEGO parts you want in units of one.
The purchased parts are as follows.
| Model number | Product name | price(tax included) | quantity | subtotal |
|---|---|---|---|---|
| 2736-194 | Technique axis-ball:[Light Bluish Gray /gray] | 10 yen | 20 pieces | 200 yen |
| 2780-026 | Technique connector peg-Cleat:[Black /black] | 4 yen | 20 pieces | 80 yen |
| 32073-194 | Technique 5M Cross Axis 39mm:[Light Bluish Gray /gray] | 10 yen | 5 | 50 yen |
| 4519-194 | Technique 3M Cross Axis 23mm:[Light Bluish Gray /gray] | 5 yen | Ten | 50 yen |
| 6558-023 | Technique Connector Peg 3M-Cleat:[Blue /blue] | 6 yen | 10 pieces | 60 yen |
| 41677-001 | Technique lift arm 1 x 2-Thin:[White /white] | 23 yen | 10 pieces | 230 yen |
| 45590-026 | Technique axis connector-Made of rubber:[Black /black] | 48 yen | 6 | 288 yen |
| 32316-194 | Technique Lift Arm 1 x 5:[Light Bluish Gray /gray] | 18 yen | 5 | 90 yen |
| 41678-194 | Technique axis/Pin connector-Vertical double:[Light Bluish Gray /gray] | 20 yen | 10 pieces | 200 yen |
| 32293-026 | Technique Link 9L:[Black /black] | 108 yen | 8 | 864 yen |
| 4185-199 | Technique Belt Wheel:[Dark Bluish Gray /Dark gray] | 48 yen | 5 pieces | 240 yen |
- Some parts that were not used are included.
The result is the following miniature. When I moved it by hand, I was able to confirm that the arm mechanism that constitutes the closed link allows the hand part to move up, down, left, and right while maintaining a state parallel to the floor. Just touching this miniature is quite fun.
Create a 3D model using 3D CAD software
Since I understood the mechanism with a miniature, I started to make the actual machine. First, decide what kind of parts to make the robot. I decided to use a smart servo motor called Dynamixel for the motor that will be the main part. This motor is often used to make robots for hobby applications.
http://jp.robotis.com/index/product.php?cate_code=101010
The manual is below. http://support.robotis.com/jp/product/dynamixel/ax_series/dxl_ax_actuator.htm
Frame parts for connecting Dynamixel motors are also on sale, so I designed it so that it can be built with this combination of frames as much as possible.
The parts I decided to use are as follows.
| Part | Product name |
|---|---|
| body | Self-made with a 3D printerDMM.make |
| Shoulder 1 | FP04-F3 |
| Shoulder 2 | Dynamixel AX-12A |
| Upper arm 1 | FP04-F4 |
| Upper arm 2 | FP04-F2 |
| Elbow + forearm + wrist | Tamiya Fun Work Series 3mm Screw Shaft Set |
| Hand 1 | FP04-F2 |
| Hand 2 | Self-made with a 3D printerDMM.make |
Having decided which parts to use, I created a model of the Delta robot using 3D CAD software called Fusion 360. Fusion 360 can be used free of charge for personal use and start-up company use. By reading the book below, you can master most of the necessary operations. [Fusion360 Operation Guide Basic Edition-Next Generation Cloud-based 3D CAD](https://www.amazon.co.jp/Fusion360 Operation Guide-Basic Edition-Next Generation Cloud-based 3D CAD-Mitani-Dap / 4877834168) It's fun because you can make 2D sketches in 3D and make 3D models quickly.
The completed 3D model is below. The green balloon is the moving part. The Dynamixel motor and frame downloaded and used 3D CAD data. http://www.besttechnology.co.jp/modules/knowledge/?BTX030B%20Dynamixel%20AX-12A#oea7f740
Seen from below.
Create your own parts using a 3D printing service
The body and hands 2 are original parts in the 3D model of the Delta robot. I decided to model these two parts with a 3D printer. I don't have a 3D printer, and I don't have a store like Makers lab nearby, so I decided to use the internet service. DMM.make. Output the model created by Fusion 360 to a file in STL format and upload it to the DMM.make site as it is. An automatic check will be performed to see if the model data can be processed. If it is OK, you can order by selecting the material and processing speed. It arrived about a week after I ordered it.
assembly
Assemble after the 3D printed parts arrive. The robot part is completed.
Since the parallel link robot is used by hanging it from above, a steel rack that serves as a base is purchased from Daiso and installed.
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