Version 2 (Work in Progress)
Version 2 (Work in Progress)
Embedded Files
Description
Description
We are currently still working on Version 2 which contains new Actuonix Actuators that allow us to get positional feedback from the actuators. In addition, they have a smaller form factor that allowed us to decrease the size of the gripper as compared to Version 1. Unfortunately, the Actuonix Actuators are double the price of the previous actuators, which increases the price of a 2 finger delta to $500 and a 4 finger delta to around $1000.
Bill of Materials
Bill of Materials
CAD
CAD
Work in Progress
3D Printing Instructions
3D Printing Instructions
Work in Progress
Building Instructions
Building Instructions
Single Module
Four Modules
Wiring Instructions
Wiring Instructions
Follow the Guide below in order to wire the Delta Gripper. Make sure that you connect the ground between the 12V power supply to the ground of the Arduino Mega.
Code
Code
We used pyserial to control the Delta Array. This was tested on both Mac and Ubuntu 18.04 We only tested this on Ubuntu 18.04.
Install Arduino IDE following instructions here: https://www.arduino.cc/en/software
Install Python and pyserial following instructions here: https://github.com/pyserial/pyserial
Download our delta_array package here: https://github.com/iamlab-cmu/delta_array
Make sure that all the pins match according to the code here: https://github.com/iamlab-cmu/delta_array/blob/master/arduino/delta_array/delta_array.ino
Compile and upload the code to the Arduino Mega.
Run our example control code using the example_movements.py.
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