SPAC-R: Suction-Driven Paper Assembly and Crafting Robot

SPAC-R is a Delta robot designed to perform pick-and-place operations using a suction mechanism. It automates the assembly of paper craft flowers by picking pre-cut petals from a designated area, applying glue to them, and assembling them into a complete flower. This repository contains all the necessary resources to recreate and operate SPAC-R, including 3D models, source code, and reference materials.

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Features

• Delta Robot Mechanism: SPAC-R employs a 4-DOF Delta robot configuration for high-speed, precise movements.
• Suction Mechanism: A suction cup mounted on the end effector is used for picking and placing petals.
• Automated Crafting: The robot applies glue and assembles petals into a flower autonomously.
• Inverse Kinematics: Ensures smooth and accurate motion control of the end effector.
• Arduino Nano Control: The system is powered by an Arduino Nano, with code written in C++ for precise control of servo motors and suction mechanisms.

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Repository Structure

1. STL Files

• All 3D-printable components required to build SPAC-R are provided in the STL_Files folder.
• Components include:
  • Frame structure
  • End effector
  • Suction mechanism attachments
  • Joint connectors

2. Source Code

• DeltaKinematics.cpp: The primary code for controlling SPAC-R's operations.
• DeltaKinematics.h (.h): Modularized code for inverse kinematics, servo control, and suction operations.
• Designed to run on an Arduino Nano microcontroller.

3. Prototype Reference Images

• Find progress images of SPAC-R in the Progress Images folder:

  • Progress2.jpg

  • Prototype Image.jpeg

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  • Suction cup of the end effector

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  • progress3.jpg

  • final model image

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4. Reference Videos

• Demonstrations of SPAC-R in action are located in the reference Videos folder:
  • Initial prototype testing
  • End effector rotation
  • Suction assembly in operation
  • Servo movement control
  • Final prototype assembling a flower

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Hardware Requirements

Electronics

• Controller: Arduino Nano

• Servo Motors:

  • Three for the Delta robot's shafts
  • One micro servo for end effector rotation

• Suction Mechanism: Air compressor with battery for powering suction cup

• Camera: RPi Camera Module for petal detection (optional)

  Circuit Diagram

  -For Rpi -For Arduino Nano

3D-Printed Parts

• STL files are included for all major structural components.

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Software Requirements

1. Arduino IDE: To upload the control code to the Arduino Nano.
2. VarSpeedServo Library: For smooth servo transitions during movement.
3. C++ Programming Knowledge: For understanding and customizing the source code if needed.

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Assembly Instructions

1. 3D Print Components: Print the STL files provided in the STL_Files folder.
2. Assemble the Delta Robot:
   • Follow the reference images in the Images folder for guidance.
3. Install Electronics:
   • Connect the servo motors and suction mechanism to the Arduino Nano.
   • Attach the camera module (if used).
4. Upload the Code:
   • Use Arduino IDE to compile and upload the code from main.cpp.
5. Test the System:
   • Run initial tests using the Videos folder as a guide.

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How It Works

1. Initialization: SPAC-R moves to the home position and waits for a command.
2. Pick Operation: The suction cup picks a petal from the pre-cut paper area.
3. Glue Application: The petal is moved to the gluing area.
4. Assembly: The petals are sequentially placed to form a complete flower.

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List Of Components

Refernces

• (https://www.thingiverse.com/thing:3465651)
• https://hypertriangle.com/~alex/delta-robot-tutorial/