Design of a Delta Robot with Vision System for Pick and Place Application

Tam, Ho Yi (2022) Design of a Delta Robot with Vision System for Pick and Place Application. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

Text TAM HO YI_Thesis.pdf Restricted to Registered users only Download (9MB)

Abstract

This project aims to design and build a three-axes delta robot with vision system for pickand- place applications. It was carried out in four main phases. Phase 1 was the literature review on robotic control and modelling, visual servoing and their applications on pick and place, and hardware components surveying. After the review, a 3D model of the delta robot was designed using SolidWorks with proper consideration on its dimensions. The kinematics algorithm of the robot was then formulated based on geometric analysis method. The 3D robot model was subsequently imported into CoppeliaSim robotic simulation software. The formulated kinematics algorithm was then written in the simulation script to test its motion feasibility. In Phase 2, the software of the robot manipulation and control was written with C# language using Microsoft.Net platform and with integrated vision system using Emgu.CV for object detection purpose. The motion control and visual servo control strategies were then formulated and written in Arduino codes to enable the robot to perform real-time object identification and pick-and-place. In Phase 3, after acquiring all the suitable hardware components, the prototype of the delta robot with a moving conveyor was constructed and experiments were carried out to test its performance in the aspect of positioning accuracy and repeatability as well as its range of motion. The results of the experiments were then tabulated and analysed. In results analysis, the kinematics algorithm of the robot was first analysed by comparing the actual result and simulation result of each of the robot joint. It was found that the actual prototype was able to move the end-effector to the required position by rotating the robot joints accurately with error of less than 0.1%. Next, in the vision system accuracy test, the average to locate the detected object was found to be 86.8%. The error of was deemed to be in an acceptable range as the error did not exceed the range of the opened gripper. Lastly, experiments on the robot’s performance such as range of motion, repeatability and positioning accuracy were tested. The robot’s range of motion is 280 mm on the x-axis and 240 mm at the y-axis. It was able to perform its motion at the displacement repeatability of 8.11 mm and average accuracy at 98.1% in pick and place. To conclude this project, the built delta robot is able to perform pick and place with vision accuracy of 86.8%, repeatability of 8.11 mm and average position accuracy of 98.1%.