The Volksrobot project is initiated by the development of a revolutionary path planning method, which is the first known of it's kind to model the complete parallel structure of the Delta Robot. The result is a Path Planning without mathematical limitations and assumptions, and consequently, much faster and optimized overall path speeds. By using this new Path Planning technique, it is possible to model, not only the resulting joint torques, but also the "stiffness" of the whole parallel structure. read more
|
The video above shows the status quo of the project - the "Volkswagen" of robots. Built by simple and inexpensive components.. Path Planning by complete dynamic model. Servo control implemented in Arduino boards. Positions at 1 kHz, Velocity loop 8 kHz, Current loop 16 kHz. Resolvers from Austria Microsystems (AS 5043) added to motor shaft of servo.  Although Delta Robots might seem like magic, they are in fact the most mechanically simple xyz-robots you can imagine. The difficulties lies in the construction of a Dynamical Model, which is vital for successful Path Planning. |
|