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DeMaegd_61211900_Mollica_38291900_2024.pdf
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- The objective of this master’s thesis is to enhance the control and performance of a Delta robot designed for educational purposes. This robot will be showcased at the “Printemps des Sciences” event in Louvain-la-Neuve to demonstrate its capabilities to a young audience. The robot must execute original and fun tasks that highlight its full range of abilities. This thesis represents the second iteration of the project, with a focus on measuring the robot's accuracy, repeatability, and flexibility. Additionally, it addresses motion control and the design of a gripper system. The ultimate goal is to develop a Delta robot capable of performing educational demonstrations with high precision. A pneumatic gripper was designed and optimized for tasks such as pick-and-place operations, enhancing the robot's ability to perform engaging demonstrations. Furthermore, a user-friendly graphical interface was developed using ElectronJS, simplifying robot control for users with minimal programming experience. This interface allows easy execution of pre-defined trajectories, improving the robot's usability in educational settings. The robot's performance was rigorously evaluated in terms of pose accuracy, repeatability, and flexibility, in compliance with ISO standards. Results show the robot achieves a pose accuracy of less than 1[mm] and repeatability within ±0.5[mm], making it well-suited for illustrating key robotics concepts. The thesis also includes detailed documentation of the robot's programming, providing sufficient information for users to modify the code and add new trajectories. The code used an inverse kinematic model to computes the angles of the motor based on the trajectory and motion laws. In conclusion, this thesis successfully presents an educational Delta robot, combining gripper design and its integration, and intuitive programming to allow captivating demonstrations.