/Delta-Robot

This repository have the differents algorithms made in the thesis "Diseño e implementación de un robot delta de 3 grados de libertad", like the grafic user interface made in python to control the delta robot in the university EIA, and the logic in the embedded system (ESP32)

Primary LanguagePythonMIT LicenseMIT

Delta-Robot

This repository have the differents algorithms made in the thesis "Diseño e implementación de un robot delta de 3 grados de libertad", like the grafic user interface made in python to control the delta robot in the university EIA, and the logic in the embedded system (ESP32) Repositorio Esp32

Table of contents

Requirements

This code was made in a virtual enviroment with python 3.9.10 with the next package.

  • numpy
  • requests
  • tkinter
  • math

Step by step

  1. First, create the virtual enviroment

     $ python -m venv venv

  2. Enter to the virtual enviroment, in cmd terminal.

     $ cd venv 
 $ cd scripts 
 $ activate.bat

  3. Install the Requirements

     $ pip install -r requirements.txt

  4. You need to connect to the web server in the Esp32.

  5. Configure the home position. Move the end efector to point (0,0,0) in the space. Next on the robot delta. [will be added a image or video with the home position]

Features

  • You add the points in the workspace to those who you want move the robot delta.
  • The backend code of the GUI use inverse cinematic to calcule the angular values of the motors.
  • The code send the angular values to the Esp32 via wi-fi.
  • If the point dont exist in the workspace the interface show a messagebox saying it.
  • You can change the microstteping of the motors, this is useful for smoother movements.
  • You can send at most 4 points at the time by requests petition.
  • The embedded system use the AcellStepper library to calcule the trayectory point to point.
  • You can reconfigure the dimensions, the aceleration and the speed values in the config button.

Diagrams

Comunication Diagram

graph TD
    subgraph Red WiFi Local
    subgraph ESP32
    S[Servidor Web]
    end
    subgraph Cliente
    C[GUI]
    end
    end
    

    C -->|Solicitud HTTP| S
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Sequence Comunication Diagram

sequenceDiagram
    participant Cliente
   
    participant ESP32

    Cliente->>ESP32: Enviar payload con datos de movimientos de motores
    ESP32->>ESP32: Procesar payload y controlar motores
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Future works

Authors

  • me
  • Alejandro López, thesis partner