NenPower

Hardware Assembly Guide

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

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

                    ![Base Assembly](./images/assembly-step1-base.jpg)

  • Build base frame using aluminum extrusions

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

  • Ensure base is level and stable

Step 2: Motor Installation

                    ![Motor Installation](./images/assembly-step2-motors.jpg)

  • 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

                    ![Arm Assembly](./images/assembly-step3-arms.jpg)

  • 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

                    ![End Effector](./images/assembly-step4-endeffector.jpg)

  • 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 Wiring](./images/wiring-diagram-full.jpg)
                Complete system wiring diagram (click to enlarge)

                ![ESP32 Pinout](./images/wiring-esp32-pinout.jpg)
                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](./software.html)

Last updated 8 Aug 2026