PROTOTYPING
As simulation has verified and validated mathematical concept of the models, it is now time to build up a prototype that reflect the chosen design. This process reveals hidden problems and show in real the unseen failure points. It offers an environment for real-life application and calibration process. The implementation of the delta robot will be presented in this chapter.
COMPONENTS COLLECTIONS
In this section, all the mechanical and electrical components that do not need manufacturing process are described
Mechanical Components
Spherical Joint: 6mm Female Threaded Joint Bearing SI5T/K PHSA5 Right Hand Thread Rod End Bearing.
Lead Screw: 6mm open ended threaded screw
Wall Bolts, hexagonal nuts and rings: 6mm diameter
Ball bearing: Metal 12/6mm..
Electrical Components
Servo Motor: MG966R, datasheet enclosed in appendix A.
Arduino UNO: which is used due to its flexibility in controlling servomotors and it is considered enough for the delta robot motors.
Connector Circuit: a PCB14 board used as connector between the power, control and servo wires
DC Power Supply: Servo motors consume high current especially when they hold a torque, the minimum consumption of delta robot is about 0.7A for each motor, thereby the power supply should be able to provide at minimum 3A.
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