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Revision as of 04:10, 11 September 2018 by (talk) (Build a Prototype for a Delta/Parallel/Pick and Place Robot)
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Building a Prototype for a Parallel/Delta/Pick and Place Robot Name: Abhinav Kulkarni Email: Website: Phone: (512) 658 7456 Description: Hi,

I am looking to partner with somebody (or contract it out) to create a small prototype of a parallel/delta/pick and place robot.

We wish to demonstrate the following:

1. We are able to pick and place soft, delicate objects such as fruits and vegetables. We plan to use pneumatic soft grippers for that.

2. We are able to handle a variety of shapes - round (tomato), elongated (zucchini), cylindrical (oatmeal box), etc. We will constrain ourselves to lighter loads initially (mostly <1lbs, at max 1-2lbs).

3. We are able to control the robot precisely using an external Computer Vision based system that senses objects using cameras and/or structured light (such as Microsoft Kinect) and/or multi-view geometry. We are a group of engineers and entrepreneurs with a good depth in Robotics, Machine Learning, AI and Vision, so we really need the freedom of programming the controller. For the prototype, the objects will be placed in the robot's vicinity and the robot will be instructed to get closer to and pick them. In a warehouse kind of situation, the objects would be placed on a conveyor belt.

4. We really don't need micro/millimeter level of precision of industry-grade robots. We also don't need high speed. If the robot can pick 1-10 objects per minute, we would be happy.

Here is a good example of a industrial grade robot: Please note, as I noted above, we are not looking for the same level of speed or accuracy.

Milestones: 1. Build a parallel robot. You can refer to instructables listings or this forum post: The robot needs to have a workspace coverage of approx. 1.5ftx1.5ft. AT the completion of the first milestone the robot should be able to pick and place a round pancake sitting right below the robot. It will be supplied with the exact coordinates by a control and path planning algorithm. It simply needs to demonstrate the ability to execute the path. The robot will be controlled by an Arduino (we can help with Arduino interfacing).

2. Calibrate the robot/achieve a certain level of precision/repeatability/accuracy so that it can be automatically calibrated from time to time. The second milestone should be able to pick and place 2-3 pancakes lying around the robot and stack them at a specified position (we will design the control and path planning algorithm, the goal of this milestone is to test whether robot is able to execute instructions it is supplied with).

I have a spec sheet for Igus delta robot that I would be happy to share.

The payments will trigger as the milestones are achieved.

Thanks, Abhinav

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