Industrial Delta Robot

Overview

This project focuses on the design, fabrication, and testing of a camera-equipped Delta robot for advanced grading in conveyor systems. The Delta robot automates the grading process, improving speed and precision, especially for applications in the food processing industry.

Key Features:

• Object detection and classification using YOLO v8 : GitHub
• Delta Robot Forward and Inverse Kinematics in Python : GitHub
• Webapp for interactive visualization of Kinematics and Spline Path Planning : Kinematics Calculator
• Arduino code for simultaneous operation of three stepper motors based on computer based commands : GitHub
• Python GUI for interacting with actual robot : Github
• All Solidworks Design and Assembly Files : GitHub
• Find ROS2 workspace in another repository : GitHub

Project Objectives

• Design and fabricate a prototype of a Delta robot for vision-based grading.
• Implement autonomous pick-and-place using a camera and vacuum gripper.
• Integrate a ROS2-based control system for smooth operations.
• Test and optimize the performance for real-world grading tasks.

System Design

Mechanical Design

• Developed using SolidWorks and 3D printed components.
• Key parts include the base frame, bicep rod, and end effector.

Electronics System

• Arduino Mega for controlling motors and sensors.
• NEMA 23 stepper motors and TB6600 drivers for precise movements.
• Includes gyroscopic sensors, relay modules, and a 30A power supply.

Vision System

• Uses YOLO v8 for object detection.
• The camera system identifies and grades objects based on visual parameters.
• Accurate positioning using coordinate transformations.

Operating Software

• Python for image processing and GUI.
• Arduino for serial communication and actuator control.
• ROS2 for autonomous system operations and smooth trajectory control.

Results and Discussion

• Achieved 900 tomatoes per hour in static conditions.
• Reliable performance in pick-and-place operations.
• Improved speed and accuracy, making it suitable for industrial applications.

Challenges and Future Development

Challenges:

• Pneumatic control could be improved for faster operations.
• Mechanical imperfections leading to minor errors in positioning.

Future Development:

• Integrate a dynamic conveyor system.
• Enhance programming flexibility for better control.
• Improve structural stability and add more safety features.

Conclusion

The project successfully demonstrated the integration of mechanical design, electronics, and vision systems to automate grading processes. The Delta robot proved effective in improving the efficiency of grading systems in the food processing industry.

How to Use

1. Clone the repository: git clone https://github.com/WinnerBishal/Delta-Robot.git