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Hardware

The hardware part of the Delta robot is not completed yet. There will probably be a pcb added in the near future so that there is no need for this tutorial.

Datasheets

Power Supply

The Beagle Bone Blue can be operated with the 12V DC Power supply, 7.4V DC from a battery or with the 5V from the USB. You can’t run the motors when only powered over USB, so you have to connect an 7.4V battery or the 12V Power supply. You also need 12V on the adapterprint fort he electromagnet (see gpios).  BBBlue PWR Port

Encoder

To get the +5V to the adapter print you can simply get it from the PWR port of the Beagle Bone Blue. You’ll need this 5V for both types of encoders used on the Delta. The encoder inputs of the Beagle Bone Blue are only 3.3V capable. To get the signals from 5V down to 3.3V a voltage divider is used for each encoder channel.  Voltage divider for the encoders

GPIOs

You can get the 3.3V also from the PWR port of the Beagle Bone Blue. This is used for the button pullups. The leds are pulled down and driven with the 3.3V from a gpio.
The output of the gpios is only 3.3V. To get a stronger magnetic field from the elctromagnet, a transistor is used to get 12V over the electromagnet.Gpio connection of the adapterprint

Part list

PosNamePcsDescriptionLink
0Beagle Bone Blue1Beagle Bone Blue Rev A.0https://beagleboard.org/blue
1Cable Set1Cable set for Beagle Bone Bluehttps://www.conrad.ch/de/beagleboard-kabel-bb-blue-kabelset-1606596.html
2Axis Motors3Faulhaber 1524-012SRhttps://www.faulhaber.com/de/produkte/serie/1524sr/
3Encoder for Axis Motor3Faulhaber IEH2-4096https://www.faulhaber.com/de/produkte/serie/ieh2-4096/
4Gear for Axis Motor3Faulhaber 15/8 76:1https://www.faulhaber.com/de/produkte/serie/158/
5TCP Motor1Faulhaber 0816-012SRhttps://www.faulhaber.com/de/produkte/serie/0816sr/
6Encoder for TCP Motor1Faulhaber HEM3-256Whttps://www.faulhaber.com/de/produkte/serie/hem3-256/
7Gear for TCP Motor1Faulhaber 08/3 120:1https://www.faulhaber.com/de/produkte/serie/083/
8Electromagnet 1GTO-14-0.5000 12VDChttp://tremba.de/elektromagnete/elektromagnete.php
9Lighted pushbutton red1R13-548CL-05-BRhttps://de.farnell.com/multicomp/r13-548cl-05-br/switch-push-button-spst-mom-red/dp/1634680
10Lighted pushbutton green1R13-548DL-05-BGhttps://de.farnell.com/multicomp/r13-548dl-05-bg/schalter-push-button-spst-green/dp/1634678
11Lighted pushbutton blue1R13-548A-05-BBhttps://de.farnell.com/multicomp/r13-548a-05-bb/switch-push-button-spst-mom/dp/1634679?st=R13-548

Adapter print

PosNamePcs
0Stripboard1
1Resistor 680 Ohm4
2Resistor 330 Ohm4
3Resistor 1 kOhm7
4Transistor BC3371
5Diode 1
6Male connector 6 pins4
7Male connector 4 pins4
hardware.txt · Last modified: 2019/02/28 16:17 by graf