DIY Delta Robot using stepper motors - 1st Demonstrator
Channel: Wan Mag
Date: 2016-10-25

This is a presentation showing an unfinished prototype of a self-built delta roboter. It's a hobbyist project whose focus laid on writing the control software. The hardwares purpose is to act as an demonstrator so one can check the function of the software easily. Hence, stability issues and mechanical accuracy were not of much concern.

The software:
... is bare-metal C code which is about to get refactored to object-oriented C++ code. With the exception of a fixed-point-math library and the vendors startup code, hardware abstraction code and linker script, all the code is self-written.

Hardware:
- Maple Mini Clone from Ebay with an STM32F103C8T6 ARM-Cortex M3 MCU. These are typically sold for 3 USD/piece.
- Pololu DRV8825 stepper motor control boards: http://www.pololu.com/product/2133
- PSM57BYGHM201 stepper motors with 0.9 deg step angle, 0.9 Nm holding torque, 1.7A max current: http://www.pollin.de/shop/dt/NTQ1OTg2OTk-/Bauelemente_Bauteile/Motoren/Schrittmotoren/Schrittmotor_PSM57BYGHM201_0_9_.html
- 6.35mm mounting sets (german: Spannsätze): http://www.maedler.de/article/61540635
- Igus KDGM-06-A-SR bearings (german: Doppelgelenklager): http://www.igus.at/wpck/7164/igubal__Doppelgelenklager_KDGM