Recorded in Onshape. The parts list on the left shows the assembly structure.
Overview
A delta robot modelled in Onshape. I built the parts, combined
them into an assembly with mates, and animated the arms to move
the end-effector plate.
Three SG90 hobby servos on a round base, each driving one shoulder link.
Two parallel link rods per arm, six in total, with ball joints at both ends.
All six link rods connect to one end-effector plate.
All custom parts are 3D printed.
59 part instances and 27 mates in the full assembly.
Next steps
Build the robot. 3D print the custom parts and assemble the physical robot.
Parallel kinematics. Work through the inverse and forward kinematics of the delta structure, from end-effector position to the three servo angles and back.
Controller. Write the controller that turns a target end-effector position into servo commands.