Command and Control System for a Parallel Robot

This paper presents the design and implementation of the command and control system of a parallel robot, with functions of printing, milling or technical measurements. After a short introduction and a brief presentation of the mechanical structure of the robot, the electronic control system of the robot is shown, with the main specifications of the components used and the configuration of the block diagram of electronic components and their associated connections. The links of the mechanical structure of the robot are actuated by the Nema 17 stepper motors, which provide very precise positioning and movements, and, also, high torque at low speeds, being used for 3D printers and CNC machines. The control of the robot is provided by the Rumba 32 control board, based on an STM32 processor, Rumba being one of the most common and complex boards used for 3D linear Delta printers. For driving this parallel robot, it is used open-source firmware, Marlin, widely used to control the functions and kinematics of the 3D printers, plotters, and other such mechatronic devices, because of its precision and reliability, and also of its capacity to manage all machine's activities in real-time.