The Concept Notes

Vietnamese-German University
Mechatronics & Sensor System Technology
___________________________________________________________________________
The Concept Notes for
the Project of 3D printer
using Linear Delta Mechanism
Conducted by: Nguyễn Ngọc An - Trần Văn Ba
Supported by: MSST Lab Engineer cum Teaching Assistant Le Duy, Can
Contents:
1. Fundamental of the Project
a. Purpose of the project
b. 3D printing process
c. Linear Delta Mechanism
2. Contents of Project
3. Mechanical Design and Parts
4. Electrical Design and Parts
5. Budget for Project

___________________________________________________________________________
1-/ Fundamentals of Project
a/ Purpose of the project
Nowadays, the 3D printing technology is growing very fast, especially in plastic material. 3D
printer can be used as a rapid prototyping machine, or can be used for produce specific
mechanical parts in laboratories (most of parts in labs are produce with small quantities).
So we want to makes the project of 3D printer using Linear Delta mechanism with below
purposes:
_ making a 3D printer that can produce plastic parts (the dimension is whithin working
space 250 200  ).
_ Control Linear Delta mechanism  can be used for other application (paint, pick &
place, etc.)
_ develop the research in robotic in VGU  the mechanical design can be used for
research or experiment about robotics.
_ cannot as good as commercialized machines but will be better than open source
machines (such as RepRap).
b/ 3D printing process
3D printing is a process used for making solid-object. 3D printing is using additive process. The
idea is based on exactly the 2D ordinary printing process. In 2D printing process, we print down
one layer of ink and do not care about the thickness of the layer. In 3D printing process, we
make 3D objects by printing down different layers with different shapes and specify thickness.
Actually, the process of a 3D printer is not 3D at all, it is 2.5D because we making 2D layers
successive to each other.
Figure: 3D printers and products made by 3D printers

________________________________
c/ Linear Delta Mechanism
The original Delta mechanism is invented by Dr. Reymond Clavel (
de Lausanne) in early 1980s. It is a parallel structure mechanism with
3 translational DOFs (degree of freedom).
Figure: Delta Mechanism of Reymond Clavel
Compare with ordinary serial structure of robotic, the parallel
+ More rigidity
+ No error accumulation (a
+ Faster motion (Delta robot
+ Easy in inverse kinematic
_ Difficult in forward kinematic
_ Small working space (with the same working
to install)
Linear Delta mechanism is based on the original Delta mec
actuators by linear translation actuators.
___________________________________________________________________________
/ Linear Delta Mechanism
The original Delta mechanism is invented by Dr. Reymond Clavel (École Polytechnique Fédérale
e) in early 1980s. It is a parallel structure mechanism with 3 rotary actuators to make
3 translational DOFs (degree of freedom).
Figure: Delta Mechanism of Reymond Clavel
ary serial structure of robotic, the parallel structure has some pros and cons
(a robot using for surgery is base on another parallel structure)
+ Faster motion (Delta robot is the fastest robot for pick and place application
+ Easy in inverse kinematic
_ Difficult in forward kinematic
_ Small working space (with the same working space, a parallel structure need
Linear Delta mechanism is based on the original Delta mechanism of Clavel by replacing
actuators by linear translation actuators.
___________
École Polytechnique Fédérale
3 rotary actuators to make
some pros and cons:
robot using for surgery is base on another parallel structure)
application)
space, a parallel structure needs larger area
hanism of Clavel by replacing 3 rotary

________________________________
Figure: Linear Delta mechanism
Compare with the original Delta, the Linear Delta has more simple kinematic solution, more
rigidity. It is more suitable to apply in machine tool than original Delta
& place.
___________________________________________________________________________
Figure: Linear Delta mechanism
Delta, the Linear Delta has more simple kinematic solution, more
rigidity. It is more suitable to apply in machine tool than original Delta which is excellent in pick
___________
Delta, the Linear Delta has more simple kinematic solution, more
which is excellent in pick

___________________________________________________________________________
2-/ Content of the projects
1/ Kinematic research
2/ Mechanical Design
3/ H-bridge design & Microcontroller board
4/ Motor Controller
5/ Trajectory generator
6/ Design plastic extruder
7/ Thermal Controller
8/ Human-Machine Interface
Mechanical
•Delta Mechanism Design
•Plastic Extruder Design
•Kinematic Research
Programming
•Motor Controller
•Trajectory Generator
•Human-Machine Interface
Electronics
•H-bridge
•Microcontroller Kit
•Thermal Controller

___________________________________________________________________________
3-/ Mechanical Design and parts
Figure: Mechanical design
Note: The part list is shown below. The part number 1, 2, 3, 10, 11, 13, 16, 18, 19, 21, 23 is need
to be fabricated.

___________________________________________________________________________
ITEM NO. PART NUMBER DESCRIPTION QTY. ITEM NO. PART NUMBER DESCRIPTION QTY.
1 Base 2 16 bar 6
2 BearingBase_2 3 17 BallJoint_inner 12
3 BearingBase_1 3 18 BallJoint_inner_2 12
4
ThrustBearing(12x26
x9)
3 19 BaseLeg 1
5 Bearing(12x32x10) 6 20 Motor 3
6 BallScrew 3 21 MotorMounting 3
7
ISO 4762 M6 x 20 ---
20C
12 22
ISO 4762 M4 x 6 ---
6C
12
8
Hexagon Thin Nut
ISO - 4035 - M12 - N
3 23 Effector 1
9 BallNut 3 24
ISO 4762 M6 x 10 ---
10C
11
10 GuidingBar 6 25
ISO 4762 M6 x 10 ---
10N
13
11 JointBase 6 26
Hexagon Nut ISO -
4034 - M6 - N
12
12 BallJoint_outer 12 27 ScrewCover 3
13 BallJoint_outer_2 12 28
Hexagon Nut ISO -
4032 - M4 - W - N
6
14
ISO 4014 - M5 x 25 x
25-N
24 29
Hexagon Nut ISO -
4032 - M6 - W - N
12
15
ISO 4762 M4 x 12 ---
12N
12 30
ISO 4762 M5 x 8 ---
8N
7

________________________________
4-/ Electrical Design and parts
5-/ Budget
The cost for mechanical fabrication is about 10 million VND
others such as bearings, bolt, nuts, …)
No. Parts & Works
1 Thrust bearing 51101
2 Ball Bearing 6201
3 Ball Joint G512
4 Ball Screw
5 Bolts & nuts
6 Motors
7 Fabrication
 Bearing Base
 Ball screw (edit)
 Ball joints (edit)
 Moving plate
 Structure
 Materials (Inox,
aluminium)
SUM
Axis Motor
Controller (x3)
DC Motor
Yaskawa
Minertia J series
IC H
LMD18200
___________________________________________________________________________
/ Electrical Design and parts
The cost for mechanical fabrication is about 10 million VND (for fabricating parts, materials
others such as bearings, bolt, nuts, …)
Cost
(per one part)
Quantity Total Cost
25.000đ 3 75.000đ
10.000đ 6 60.000đ
42.000đ 12 504.000đ
700.000đ 3 2.100.000đ
3.000đ 123 369.000đ
250.000đ 3 750.000đ
6.500.000đ
10.358.000đ
Master MCU
IC H-bridge
LMD18200
Extruder
Controller
Nema step
motor
Heat resistor
___________
, materials and
10.358.000đ

___________________________________________________________________________
The cost for electrical parts with fabrication and heater module is about 3 million VND.
No. Parts & Works Cost
(per one part)
Quantity Total Cost
1 MCU (STM32F4) 500.000đ 1 500.000đ
2 LMD18200T (H-bridge IC) 130.000đ 3 390.000đ
3 PCBs Fabrication 300.000đ
4 Other components
 Capacitors
 LEDs
 Terminal
 …
200.000đ
5 Heater
 Heat resistor
 Temperature
Sensor
 Fans
 Nozzle
 Aluminum
1.600.000đ
SUM 2.990.000đ
For the unknown problems (such as trial and errors, etc.), we suggest more 2 million VND.
For the whole project, we propose a budget of 15 million VND.

The Concept Notes

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