Anthony “Proto G” Garofalo has made many interesting devices, but it’d be hard to beat the delta robot that he’s currently working on. It uses a trio of very large (NEMA 34) stepper motors with a 5:1 gearbox to move a small vacuum gripper at a high speed.
An ESP32 module is used for control, along with a trio of large stepper drivers. Additionally, Garofalo shows off some nice looking buttons and knobs in the project video, one of which is a 12-position switch. He plans to use this with voltage dividers in order to feed inputs into an analog input to save I/O.
The video demonstrates the robot’s end effector moving to a horizontal position then down, simulating how it would position itself to pick up items. A Pixy vision sensor was originally on the moving part of the assembly, along with an LED ring light, but he’s now gone with a smaller gripper assembly for a better range of motion. However, it eventually turns out — there’s some discussion about marble sorting — it looks like it will be an incredible robot. Even in its unfinished state it’s certainly worth checking out:
While that video gives a good overview of the device’s functionality, you can see more on the build process on Garofalo’s YouTube page. On a related note, Charmed Labs just released the Pixy2 vision sensor, which is smaller and faster than the original — perfect for end-of-arm use?