2 Dimensional Delta Robot With 2 Servo Motor | Arduino Delta Robot |Arduino Inverse Kinematics Robot

This is a 2d delta robot that has 4 moving links and 1 stationary link. This makes it a 5 bar mechanism. It is powered by two servomotors. The two servo motors are able to move the links such that the center point of the link can trace/draw any shape.

• Arduino Uno
• Servo Motor (SG-90)

This is a 2d delta robot that has 4 moving links and 1 stationary link. This makes it a 5 bar mechanism. It is powered by two servomotors. The two servo motors are able to move the links such that the center point of the link can trace/draw any shape.

I got the inspiration from the 3d delta robot IRB 360 Flexipicker from ABB. This robot from ABB had 3 motors so, it can work in 3 dimensions. I didn't have the proper hardware and motors. So, I decided to continue it in 2 dimensions with only 2 motors.

The servo motors should be mounted on a fixed surface. I used a wooden bar and rubber band to secure them in place.

Make 4 links of equal lengths. Adjust the motors such that the distance between their rotor is equal to the length of the link. Punch holes at its ends. Then join them with each other to make a long chain. Connect the endpoints of the chain to the horns of the servo motor.

The inverse kinematics method is used to calculate the angle of each servo motor. The point on the plane is (x, y) and to reach that point each motor has to be at a certain angle. That angle is calculated by trigonometry. All this is done in the code.

Thus passing coordinates to a function. All the calculation is done and the respective angle is returned.

We tried making straight lines, circles & squares. But due to improper hardware and unreliable cheap servo the shape to be drawn wasn't accurate.

But this is just a technology demonstrator.

That's how we made this robot.

Robotics EveryDay!!!