4 DOFs High-Speed Pick and Place Delta Robot

Integrating a vision module with a high-speed pick and place Delta robot to develop a dynamic system capable of operating on moving conveyors. Closed Loop Stepper Motors (Easy-Servo Motors) are used to drive the biceps carrying the end effector platform. The fourth degree of freedom is established using Servo Motor mounted on a Bevel Gear Mechanism to increase its speed. Frames are taken from the video stream of the vision module and passed into an algorithm that uses the Sobel Edge Detection technique through OpenCV APIs. The image processing produces the coordinates of the products referred to the vision origin frame, type of product, and the orientation for sorting. Transformation and inverse kinematics are used before obtaining the motion profile behavior. Various trajectory control approaches are discussed along with the communication protocols available that proved best to our system. Vision and control algorithms are developed in Python Programming Language. The Motor drivers receive their input controller from a microcontroller based on ARM-Cortex M4 using Embedded C Programming Language. Experimental results concluded that the prototype could reach 100 parts per min accurately and consistently. Further approaches are discussed regarding the bottlenecks and how to increase the speed of the robot.