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Open Source Experimental Platform | Complete Hardware & Software Solution

Open Source Delta Robot
Learning Platform

Complete Software & Hardware Reference Design | 100% Open Source
Perfect for experiments, learning, and research projects

Complete Solution

Hardware + Software + Docs

100% Open Source

No vendor lock-in

Ready to Experiment

Pre-tested reference design

Get Started (Free) Buy Hardware Kit (Optional)

All software and documentation are 100% free and open source. Hardware kit is optional to save time.

Why Use This Reference Design?

Complete solution for learning Delta robot kinematics and vision integration

DIY from Scratch

  • 6-12 months development time
  • Complex mechanical design + kinematics math
  • Firmware debugging (stepper sync issues)
  • Vision-control integration complexity
  • High failure risk, no support
  • Component compatibility guesswork

Our Solution

Recommended
  • Quick start for experiments
  • Pre-calibrated arm parameters (140mm/160mm)
  • Fully functional firmware (command queue + interpolation)
  • Complete vision pipeline (YOLOv8 + coordinate mapping)
  • Tested and documented reference design
  • Verified hardware combination for learning

System Architecture

Hybrid PC + ESP32 design for optimal performance

System Architecture Diagram

PC handles AI vision processing, ESP32 controls motors in real-time via GCode protocol

PC (Python)

YOLOv8 Vision
Coordinate Mapping
GCode Generation
USB Serial (115200bps) GCode Protocol

ESP32 (C++)

Delta Kinematics
Motor Control
Real-time Execution

Why This Design?

PC for AI Processing

Handles compute-intensive YOLOv8 inference and complex coordinate transformations

ESP32 for Real-time Control

Microsecond-level motor control and kinematics calculations without OS latency

Decoupled Architecture

Standard GCode protocol allows easy debugging, upgrades, and software replacement

Ready to learn more?

Complete technical documentation and tutorials available

See Technical Docs

See It In Action

Watch the Delta Robot perform pick & place operations

3-minute product demo: unboxing, setup, and first pick & place operation

Complete Kit - All Components

Complete Kit - All Components

Delta Arm Mechanical Assembly

Delta Arm Close-up

ESP32 Controller Board

ESP32 Controller Board

Robot Picking Objects

Picking Objects from Conveyor

Hardware Kit (Optional)

Open source means you can source components yourself. The hardware kit is optional but saves time for those who want to focus on learning and experimentation.

Aspect Self-Sourcing Hardware Official Kit
Component Selection 3-5 days researching compatibility Verified component combination
Mechanical Parameters Measure arm lengths & gear ratios Pre-calibrated (150mm/281mm/4.5:1)
Firmware Setup Compile, configure, flash yourself Pre-flashed, version-matched firmware
Assembly & Wiring 10-20 hours assembly + debugging Pre-assembled with labeled wiring
Debugging Time 50-100 hours troubleshooting Plug & play, tested before shipping
Total Time Investment 6-12 months 2 weeks

Still want to self-source?

That's fine! All software, firmware, CAD files, and schematics are 100% open source. We provide the hardware kit as a convenience for those who value time over cost.

Open Source & Commercial Balance

Free software, optional hardware

100% Free Forever

  • PC Control Software (Python + PySide6)
  • ESP32 Firmware (Arduino C++)
  • CAD Files (Mechanical Design)
  • Schematics & PCB Layouts
  • Documentation & Examples
  • Pre-trained YOLOv8 Model
Apache 2.0 / MIT License

Hardware Kit (Optional)

  • Recommended for fastest results
  • Pre-assembled & thoroughly tested
  • Verified component compatibility
  • Quality assurance & warranty
  • Supports ongoing development
  • Priority technical support
View Kit Options
1.2K+ GitHub Stars
300+ Forks
50+ Contributors
800+ Commits

Use Cases

Perfect for education, research, and experimental projects

Education Use Case - Students Learning Robotics

Education

Perfect for STEM robotics labs, university automation courses, and hands-on kinematics learning. Students get real-world experience with industrial robotics concepts.

  • Complete curriculum materials
  • Step-by-step tutorials
  • Academic licensing available
Prototyping Use Case - Product Development Lab

Prototyping

Validate your startup MVP, test pick & place automation concepts, or develop custom end-effectors without building infrastructure from scratch.

  • Rapid iteration cycles
  • Modular design
  • Easy customization
Research Use Case - Academic Research Lab

Research

Open platform for computer vision + robotics integration research, Delta robot algorithm testing, and publishing academic papers.

  • Reproducible experiments
  • Full system access
  • Citation-ready documentation
Maker Projects Use Case - DIY Workshop

Maker Projects

Build advanced DIY automation, custom sorting systems, or home factory setups. Perfect for makers who want professional results.

  • Community support
  • Hackable platform
  • Extensive examples

Ready to start experimenting?

Download software and documentation to get started

Get Started

Technical Specifications

Precision engineering meets open source flexibility

Mechanical

Type
Delta parallel robot (3-DOF)
Working Envelope
~Ø200mm × 180mm (Z-axis, approximate)
Precision
±0.1mm (typical)
Max Speed
100mm/s
Payload
200g (maximum)
Arm Lengths
Upper: 150mm / Lower: 281mm
End Effector Offset
50mm
Frame Material
Aluminum extrusion (2020)

Electronics

Controller
ESP32-D0WDQ6 (240MHz dual-core)
Motors
3× NEMA17 (1.8°, 200 steps/rev)
Microstepping
16 microsteps (configurable)
Gear Ratio
4.5:1 (optimized for precision)
Drivers
A4988 or DRV8825 compatible
Communication
USB Serial (115200 baud)
Power Supply
12V DC, 5A (60W recommended)
Limit Switches
3-axis endstop support

Software

Vision System
YOLOv8 (pre-trained model included)
PC Software
Python 3.10 + PySide6 + OpenCV
Firmware
Arduino C++ (ESP32 core)
Protocol
Standard GCode (G0/G1/G28/M-codes)
Kinematics
Real-time inverse kinematics solver
Interpolation
Cosine acceleration profile
Platform
Windows 10/11 (Linux compatible)
Command Queue
10-command buffer (configurable)

Included Accessories

Pneumatic System
12V vacuum pump + PWM solenoid valve
Conveyor Belt
Variable speed (200-1000Hz)
Camera
USB camera (640×480, 30fps)
End Effector
Suction cup (Ø20mm)
Wiring
Pre-crimped JST connectors
Documentation
100+ pages (PDF + online wiki)
Examples
Pick & place, sorting, calibration
Support
Community forum + GitHub issues

Component Gallery

NEMA17 Stepper Motor ESP32 Development Board A4988 Stepper Driver 12V Vacuum Pump Conveyor Belt System Aluminum Extrusion Frame

What's Included in the Kit

Everything you need for a complete pick & place system

Mechanical Components

  • Delta robot arm (pre-assembled)
  • End effector mounting plate
  • Aluminum frame structure (2020 extrusion)
  • Carbon fiber arms (lightweight, rigid)
  • Ball joints (precision grade)
  • Mounting hardware & fasteners

Electronics

  • ESP32 controller board (firmware flashed)
  • 3× NEMA17 stepper motors (1.8°)
  • 3× A4988 driver boards (heatsinks included)
  • 12V 5A power supply (certified)
  • Wiring harness (pre-crimped, labeled)
  • USB cable (PC-ESP32 connection)

Pneumatic System

  • Vacuum pump (12V, PWM controlled)
  • Solenoid valve (high-flow)
  • Suction cup end effector (Ø20mm)
  • Air tubing & quick-connect fittings
  • Pressure regulator (optional)
  • Vacuum gauge (for diagnostics)

Vision & Conveyor

  • USB camera (640×480, 30fps)
  • Conveyor belt module (variable speed)
  • Camera mounting bracket (adjustable)
  • LED ring light (improved detection)
  • Belt motor driver (speed control)
  • Calibration checkerboard pattern

Software & Documentation

  • PC control software (source code)
  • ESP32 firmware (pre-flashed)
  • Pre-trained YOLOv8 detection model
  • Calibration tools & scripts
  • Complete documentation (100+ pages)
  • Video tutorials (setup & operation)

Support & Extras

  • Quick start guide (printed)
  • GCode command reference card
  • Troubleshooting flowchart
  • Community forum access
  • Example projects (pick/sort/inspect)
  • Spare parts (fuses, connectors)

Hardware Kits (Optional)

Choose a kit to save time on component sourcing

Starter Kit

Best for Learning
$ XXX
  • Delta arm + ESP32 + motors
  • Basic software package
  • PDF documentation
  • Community support
  • Pneumatic system
  • Camera & conveyor
  • Video tutorials
View on Amazon
Most Popular

Professional Kit

Recommended
$ XXX
  • Everything in Starter Kit
  • Pneumatic system (pump + valve)
  • USB camera (640×480)
  • Pre-trained YOLOv8 model
  • Video tutorials
  • Priority community support
  • Conveyor belt module
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Complete Solution

Complete Setup
$ XXX
  • Everything in Professional Kit
  • Conveyor belt module
  • LED ring light
  • Premium support (3 months)
  • Custom model training service
  • Advanced calibration tools
  • Spare parts kit
View on Amazon

Hardware kits are optional. All kits include lifetime access to software updates and community support. Hardware warranty: 1 year.

Not sure which kit is right for you?

Compare all features side-by-side on Amazon

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Frequently Asked Questions

Absolutely! All software and firmware are 100% open source (Apache 2.0 / MIT). You can use any Delta robot hardware, though you'll need to calibrate mechanical parameters in the config file. Our kit simply saves you assembly and testing time.

Typical precision is ±0.1mm with proper calibration, thanks to 16-microstep drivers and 4.5:1 gear ratio. Repeatability is excellent (~0.05mm). Absolute accuracy depends on calibration quality and mechanical tolerances.

Basic programming knowledge helps, but not required. Our documentation includes step-by-step tutorials from beginner to advanced. If you can install Python and follow instructions, you can get this running.

Yes! We provide labelImg tool for data annotation and complete instructions for YOLOv8 training. The Complete Solution kit includes one custom model training service from our team.

Primary support is Windows 10/11 (tested). Linux compatibility is good (Ubuntu 20.04+). macOS should work but is untested. All Python dependencies are cross-platform.

Complete pick-and-place cycle: 3-5 seconds depending on distance. Max speed is 100mm/s but actual throughput depends on object spacing, conveyor speed, and vision processing time (~100ms for YOLOv8).

Yes! CAD files (STEP format) are open source. Common modifications: arm length changes, custom end effectors, or adding a 4th axis (rail). The kinematics solver parameters are configurable in firmware.

Hardware comes with 1-year manufacturer warranty. Amazon's standard return policy applies (30 days). We also offer lifetime software support through GitHub and community forums.

Ready to Start Learning?

Join the open source community of makers, researchers, and students experimenting with Delta robots

Download & Get Started View Hardware Kits

100% open source • Complete documentation • Optional hardware kits available