Design, Manufacturing, and Visual Servoing of a 3D-Printed Delta Robot

A low-cost 4-DOF 3D-printed delta robot with a programmable system is developed in this paper for the vision-based picking-rotating-placing operations. The realization of the fourth-DOF and 3D-printed structure are proposed. A motor driver is deployed for the whole programmable control system, which can realize the step motors' simultaneously control. The feedforward-feedback control algorithm is used in this system to realize precise step motor control. Moreover, camera calibration method and coordinate mapping are discussed for image processing. Finally, the system initialization, image processing, dynamic control, and error calibration are integrated in the vision-servo system to perform the detecting-picking-rotating-placing-checking operation loop.