1. Modified Delta Robot based 3D
Printer using Parallel Manipulation
Group # 09
Attiya Rehman 2010079
Hira Shaukat 2010131
Talha Hisham 2010362
Ubaid-ur-Rehman 2010366

2. OBJECTIVE
“ The development of a more
accurate and efficient design
for 3D printing. We will be
researching on parallel
manipulation with the
incentive of providing a
better and cheaper technique
for additive manufacturing.”
• Greater Accuracy
• Greater Efficiency
• Lower Manufacturing Cost
• Innovative Approach

3. BASIC PRINCIPLE
Fused Deposition Modelling
Delta Robot Structure
Parallel Manipulators

4. LITERATURE REVIEW
3D Printing:
“3D printing is a prototyping process whereby a real object is created from a 3D
design.”
Layered Printing:
Similar to an Inkjet Printer, a 3D object is made through layer by layer printing
Prototyping Technologies:
Selective laser sintering (SLS)
Fused deposition modelling (FDM)
Stereolithography (SLA)
Laminated object manufacturing (LOM)
Electron beam melting (EBM)
SLS
FDM

5. LITERATURE REVIEW
Designing Models:
– Computer Numeric Controller
– Delta Robot
Delta Robot:
• parallel robot
• three arms connected to universal
joints at the base
• key design feature – parallelograms in the
arms to maintain the orientation of end
effecter.
Delta CNC

6. LITERATURE REVIEW
Control Parameters
– Desired position of print head is achieved using position control of the
linear actuators.
– Flow of material through the print head selected according to requirements

7. HARDWARE
The main
structure
Stepper
Motors
Print head Bearings
Material
Used

8. INTERFACING
G-Code Coming Firmware
Control signals
towards the motors

9. Generate a
3D Model
Save an STL
Format File
Slicing the
3D into
layers
G-Code
Generation
Towards the
Arduino
Controllers
SOFTWARE
• CAD
• SLICER

10. EQUIPMENT
Frame :
• Top and bottom frame: Hand-cut plywood
• Side and Back frame: Hand-cut plywood
• Fasteners: Stainless steel
Electronics :
• Stepper motors: 4 (3 positioning, 1
extruder)
• Endstops : 3 top endstops & 3 bottom
endstops
• Electronics: Arduino Microcontrollers.
• Power Supply: Depends on printhead and
motors
• Fans: Cooling fans

11. EQUIPMENT
Linear Motion:
• Fish lines: Optional
• Timing belt: 3 belts (Closed loops or
open end)
• Timing belt pulleys: 3 plastic pulleys with
teeth. Smaller would probably work
better.
• Smooth rod: precise smooth rod -
Aluminium
• Linear bearings
• Ball bearings and Additional bearings
needed for extruder.

12. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

13. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

14. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

15. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

16. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

17. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

18. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

19. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

20. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

21. Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

22. To be continued . . .