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2x2 Delta Module
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Tutorial for Assembly of 2x2 Delta Robot Module

Component list for a 2x2 delta robot module assembly:

Name Number Link
Actuonix L12 100mm Linear Servo 12
FDM printed enclosure 1
FDM printed star-shaped mounts 4
Adafruit Feather M0 1
Adafruit FeatherWing DC and Stepper Motor Driver 3
ADS1015 ADC 3
Plexiglass Delta Module Holder 1
8-32 ½” Button Head Screw (Pack of 100) 1 McMaster
Female Threaded Standoff 3-½” Long, 8-32 Thread 5 McMaster
Male-Female Threaded Standoff 1-½" Long, 8-32 Thread 5 McMaster
8-32 ⅞” Button Head Screw (Pack of 100) 1 McMaster
8-32 Hex Nut (Pack of 100) 1 McMaster
SLA printed fingertip clip 4
FDM printed soft parallelogram links 4
FDM printed fingertips 4

Click on the respective images to download their CAD files.

FDM 3D Printed Components

FDM printed star-shaped mounts

FDM printed soft parallelogram links

FDM printed fingertips

SLA 3D Printed Components

SLA printed fingertip clip

Laser Cut Components

Plexiglass delta robot holder

Orderable Components

Actuators

Actuonix L12 100mm Linear Servo

Electronics

Adafruit Feather M0

Adafruit FeatherWing DC and Stepper Motor Driver

Adafruit ADS1015 ADC

Power Shield

Assembly

  • Attach sets of 3 linear actuators to 4 star-shaped mounts using 8-32 screws.
  • Insert the 12 actuators into the square shaped holes of 2 Plexiglass delta robot holders. (note this will be difficult as the tolerances are small)
  • Attach the 1-½" Long spacers between the star-shaped mounts and the lower plexiglass holders in the formation shown below:

  • Attach the 3-½" Long spacers between the 2 plexiglass holders.
  • Attach the delta links to the linear actuators.
  • Attach the Fingertip Clip Holders to the end effector plates of the delta robots and super glue the Fingertips on top as shown below:

  • Follow along [This Guide]({{ site.baseurl }}/electronics/delta_shield_introduction.pdf){:target="_blank"} to learn how to put the electronics together.
  • Use the [modified delta shield]({{ site.baseurl }}/electronics/single_delta_shield.zip) to produce the PCB for distributing the power to all motors, attach ADC and motor drivers similar to single shield design and short all the VCC and GND pins manually.
  • The final result should look like this: