Delta6: Introduction
🚀 Overview
Delta6 is a low-cost, lightweight, and easy-to-assemble 6-degree-of-freedom (6-DOF) flexible end-effector. Built upon an innovative modified Delta parallel mechanism, it integrates:
- Six antagonistic spring units for high-resolution force sensing.
- Real-time multi-axis force and displacement measurements.
- Built-in analytical compensation algorithms, correcting for imperfections from 3D-printed parts and commercial springs.
Its inherent compliance makes Delta6 ideal for interactive tasks such as human–robot collaboration, precision assembly, and delicate manipulation.
📐 Specifications
- Compact & Lightweight: ~170 × 190 × 235 mm, < 310 grams.
- Operational Workspace: Tens of millimeters range in all directions.
- Force & Torque: ±15 N forces, ±0.4 N·m torques.
- High Precision: Resolution down to hundredths of a newton and thousandths of a newton-meter.
📋 Bill of Materials
| Component | Quantity | Unit Cost (USD) | Subtotal (USD) |
|---|---|---|---|
| PLA Filament (200 g) | 1 | 3.00 | 3.00 |
| Arduino Nano Every | 1 | 13.00 | 13.00 |
| M2 Tie-Rod Ball Ends | 12 | 1.00 | 12.00 |
| M2 × 100 mm Threaded Rods | 6 | 2.00 | 12.00 |
| Mn-Steel Door Handle Springs | 12 | 2.00 | 24.00 |
| ERCK-05 SPI 14-bit Magnetic Encoders | 6 | 43.00 | 258.00 |
| 15 × 21 × 4 mm Ball Bearing | 1 | 1.00 | 1.00 |
| 8 × 12 × 3.5 mm Ball Bearings | 10 | 1.00 | 10.00 |
| Wires, Connectors & Fasteners | Various | 1.00 | 1.00 |
| Total Cost | US $334.00 |
🔓 Open-Source Highlights
🧠 Analytical Force Estimation
Effortlessly translate encoder readings into a complete 6-DOF wrench, requiring simple calibration and enabling high-frequency computation on standard microcontrollers or PCs.
⚙️ Modular & 3D-Printable
Engineered specifically for consumer-grade PLA printers, Delta6 features only 13 unique, symmetrically-arranged parts, simplifying both manufacturing and assembly.
💰 Cost-Effective
Prototype costs are approximately $300 USD, with further reductions achievable through bulk production and custom PCB integration.
🚧 Getting Started
Detailed purchase links, comprehensive CAD models, intuitive assembly instructions, firmware, and a Python SDK are available in subsequent sections. Start building your Delta6 today and explore the possibilities of affordable, precise robotic interaction!