4 DoF Delta Robot

Project Description

The 4-DOF Delta Robot for Precision Demonstration was developed as a cost-efficient, power-conscious solution to showcase high-accuracy motion control. The robot is designed with maximum repeatability, forming the foundation for future integration into inspection and quality control systems in industrial settings.

The current prototype emphasizes structural accuracy and movement precision. A laser pointer mounted on the end-effector highlights repeatability by pointing at predefined grid points, demonstrating the robot's capability to return to the same positions with minimal deviation.

To enhance usability and verification, a custom-built UI using CustomTkinter allows real-time control of the robot. Additionally, a Simulink-based digital twin mirrors the robot's movement through socket programming, enabling a synchronized physical-virtual testing environment. Both of these systems were developed as part of the core software contributions to this project.

Technologies Used

4-DOF Delta Kinematics, CustomTkinter, Python Sockets, MATLAB Simulink, BLDC Motors, Laser Pointer, Embedded Microcontrollers

Key Features

Full System Overview

Nakul Sharathkumar; Full Delta Robot System
  • 4 Degrees of Freedom: Enables complex motion patterns with optimal mechanical precision.
  • Laser-Based Repeatability Test: Demonstrates positional accuracy by targeting fixed points on a grid below.
  • Modular Structure: Designed for future expansion including vision systems and gripping mechanisms.

Delta Robot Arm

Nakul Sharathkumar; 4-DOF Delta Robot Arm
  • High Repeatability: Shows minimal deviation when returning to designated positions over multiple cycles.
  • Laser Pointer Integration: A low-power laser points to target grid locations for visual confirmation of motion precision.
  • Lightweight Build: CAD-designed frame for rigidity and low inertia.

Custom UI + Simulation Link

  • CustomTkinter UI: Interactive Python-based interface for manual control of robot joints and real-time status display.
  • Socket Communication: Bi-directional data exchange between physical robot and Simulink model through sockets.
  • Digital Twin: Simulink model mirrors real-time movements, aiding in calibration and simulation testing.

My Contributions

As the Lead Developer, I developed a real-time CustomTkinter-based control UI and implemented a socket communication bridge to link the robot's movements with its Simulink digital twin. This enabled synchronized control and monitoring between physical and virtual environments, supporting calibration and simulation verification.

Project Outcomes & Impact

The 4-DOF Delta Robot project successfully demonstrated high-precision repeatability using a non-contact laser alignment method. The robot was able to consistently return to marked points, verifying its capability for accurate operations in pick-and-place tasks.

The project introduced a functional prototype platform for future integration with vision systems and end-effectors. The dual-mode testing (physical + virtual via Simulink) validated the system's reliability

Team Acknowledgment

This project was a collaborative effort alongside a dedicated team, with each member contributing to the design, simulation, and overall development. Their expertise in mechanical design, control systems, and documentation played a vital role in bringing the prototype to life.

Team Members: