Hardware Assembly Guide

Estimated Time: 2-3 hours | Difficulty: Intermediate

Kit Checklist

Category	Component	Quantity	✓
Mechanical Parts	Delta Robot Arm	1	□
Aluminum Frame Base (2020)	1	□
3D-Printed Upper Arms (150mm) + Metal Lower Linkages (281mm)	6	□
Ball Joints	12	□
End Effector Mounting Plate	1	□
Electronic Components	ESP32 Development Board	1	□
NEMA17 Stepper Motor (1.8°)	3	□
A4988 Driver Board	3	□
12V 3A Power Adapter	1	□
USB Data Cable	1	□
Terminal Blocks/Dupont Wires	1 set	□
Pneumatic System	12V Vacuum Pump	1	□
Solenoid Valve	1	□
Suction Cup (Ø20mm)	1	□
Pneumatic Tubing	2m	□

Tool Preparation

Required Tools

• Phillips Screwdriver (PH2)

• Hex Key Set (1.5-5mm)

• Wire Cutters

• Wire Strippers

• Multimeter (voltage/continuity test)

Optional Tools

• Heat Gun (for heat shrink tubing)

• Soldering Station (if soldering required)

• Digital Calipers (precise measurement)

• Label Printer (cable marking)

Assembly Steps

Step 1: Base Assembly

• Build base frame using aluminum extrusions

• Install three motor mounting plates (120° evenly distributed)

• Ensure base is level and stable

Step 2: Motor Installation

• Mount 3 NEMA17 motors to the base

• Install gears (gear ratio 4.5:1)

• Ensure motor shaft aligns with base center

⚠️ Important: Motor orientation matters, ensure output shaft faces upward.

Step 3: Arm Assembly

• Connect upper arm (150mm) to motor output shaft

• Connect lower arm (281mm) to upper arm ball joint

• Repeat 3 times to assemble 3 arm sets

• Ensure ball joints move smoothly

Step 4: End Effector

• Connect 3 lower arms to end effector platform

• Install suction cup mount (50mm offset)

• Connect pneumatic tubing to suction cup

Step 5: Pneumatic System

• Mount vacuum pump to base

• Install solenoid valve

• Connect air path: pump → valve → suction cup

• Ensure tubing connections are secure with no air leaks

Wiring Guide

⚠️ Power Off: Ensure all power is disconnected during wiring!

ESP32 Pin Assignment Table

Function	ESP32 Pin	Connect To
Motor X (A-axis)
Step Pulse	GPIO 14	A4988 STEP
Direction	GPIO 27	A4988 DIR
Endstop	GPIO 36	Limit Switch (X_MIN)
Motor Y (B-axis)
Step Pulse	GPIO 26	A4988 STEP
Direction	GPIO 25	A4988 DIR
Endstop	GPIO 39	Limit Switch (Y_MIN)
Motor Z (C-axis)
Step Pulse	GPIO 33	A4988 STEP
Direction	GPIO 32	A4988 DIR
Endstop	GPIO 34	Limit Switch (Z_MIN)
Shared / Peripherals
Motor Enable	GPIO 12	A4988 ENABLE (3x shared)
Vacuum Pump	GPIO 21	Pump Control
Solenoid Valve	GPIO 16	PWM Valve Control
Conveyor Step	GPIO 2	Conveyor Motor STEP (PWM)
Conveyor Dir	GPIO 15	Conveyor Motor DIR
Conveyor Enable	GPIO 4	Conveyor Motor ENABLE

Complete Wiring Diagram

Complete system wiring diagram (click to enlarge)

ESP32 detailed pinout diagram

Wiring Precautions

• Power Polarity : Verify +12V and GND connections

• Motor Phase : Don't reverse A4988's 1A/1B/2A/2B

• Logic Level : ESP32 outputs 3.3V, A4988 accepts this

• Common Ground : ESP32 and power GND must be connected

• Relays : Use optoisolated relays (recommended)

Initial Power-On Check

1. Pre-Power Check

All wiring completed per diagram Power polarity confirmed No short circuits (multimeter test) A4988 heat sinks installed

2. Power-On Test

• Connect 12V power supply

• ESP32 onboard LED should light up (blue or red)

• A4988 indicator LEDs should light up (green)

• Touch A4988, should be slightly warm (not hot)

3. Motor Enable Test

# Send command via serial port
M17    # Enable motors

# Motors should now lock (resistance when turned by hand)

M18    # Disable motors

# Motors should now release (free rotation)

✅ Check Passed If all LEDs are normal and motors can enable/disable, hardware connections are correct!

→ Continue: Software Installation