Eurotechniques / Fripack / CPI · Control / Automation & Robotics Engineer · 2012–2013
Delta Robot — End-to-End Development
Parallel Robotics · Pick & Place
Context
A Delta parallel robot for pick-and-place needed to be developed end-to-end — from mathematical modelling to a working physical machine — for Eurotechniques, Fripack and CPI.
The challenge
Owning the full chain from theory to hardware: modelling the robot's kinematics, choosing and integrating motion control and actuation, building the electrical and control system, and commissioning a physical machine capable of reliable pick-and-place.
My role
End-to-end project ownership — quotations, purchasing, electrical schematics, wiring, programming, integration, testing and commissioning.
The approach
The robot was modelled in MATLAB based on the Clavel Delta robot kinematic model, then realized with a Trio Motion controller programmed in C and Trio's proprietary programming environment/language, driving four Eurotechniques Argentina servo motors (Leroy-Somer technology) over EtherCAT. A C# HMI was built for operation.
System architecture
Technologies
- Delta parallel robot
- MATLAB
- Trio Motion controller
- C
- Trio proprietary programming environment
- Eurotechniques Argentina servo motors (Leroy-Somer)
- EtherCAT
- C# (HMI)
Project journey
- Concept
- Prototype
- Validation
- Industrialization
- Deployment
- Scale
My contribution
- Led
- Designed
- Developed
- Deployed
Deployment / industrialization
Deployed to production.
Results — business / industrial impact
A working Delta pick-and-place robot was delivered end-to-end, from mathematical model to physical machine.
Skills demonstrated
- Parallel robot kinematics (MATLAB)
- Motion control programming
- Electrical design (schematics & wiring)
- HMI development (C#)
- End-to-end project ownership
- Commissioning
Key learning
From mathematical model to physical machine — end-to-end ownership of a robotics project, from kinematic modelling through to a commissioned production machine.