Parametric Delta Robot with NEMA17 stepper motors. By selecting the length of the profiles (e,f,rf,re) the desired workspace and characteristics can be achieved.
Geometric parameters, sketch taken from https://hypertriangle.com/~alex/delta-robot-tutorial/
For forward and inverse kinematics please check this awesome source: https://hypertriangle.com/~alex/delta-robot-tutorial/
See https://www.thingiverse.com/thing:6248772
Pulley is a remix from here: https://www.thingiverse.com/thing:16627
CNC Shield: https://github.com/Protoneer/Fritzing_Parts
6x Senkkopfschrauben Edelstahl A2 V2A DIN 7991 Innensechskant M8 8 x 40 mm
12x Gelenkkopf Außen M8 Uniballgelenk Kugelkopf Links und Rechts
3x 6mm GT2 Zahnrad Pulley Ritzel Scheibe 40Zahn Ø8mm
3x Nema17 Planetengetriebe Gear Reducer Ratio 5:1 φ5mm Input Shaft
3x GT2 6mm geschloßener Zahnriemen 256
6x Kugellager 61906 2RS Kugellager 6906 2RS 30x47x9mm
3x M8 Gewindestange 10cm
6x M8 Mutter
3x Aluprofile (L5,) 20x20mm
6x Aluprofile (L1 == f) 20x20mm
3x Aluprofile (L2 == rf) 20x20mm
3x Aluporfile (L3 == e) 10x10mm
6x GFK/Aluminium Rundrohr 10cm (L4==re) Durchmesser
1x CNC Shield V3 Development Board for A4988 drivers Stepper for 3D printer compatible with Arduino
1x Arduino Mega
3x Micro Limit Switch
3x Nema17 Stepper Motor