Mini Delta Robot

This is a mini delta robot that can be gifted as an intriguing looking toy or to familiarize yourself with parallel robots. At full extension, it registers 6.6 cm from top to bottom. 

You need:

1 Delta Base

1 Delta End Effector

3 Base Pins

3 Active Links

6 Ball and Socket Joint

12 M3x15 screws (I used hex screw but that doesn't matter)

In regards to tolerances, the joints have a 0.25 mm tolerance and the pins have 0.2 mm tolerances which should be friendly for most printers.

My print settings:

0.1 mm layer height (0.4mm nozzle)

3 perimeters

3 top and bottom layers

20% infill

75 mm/s print speed

I recommend printing the base pins with a brim and at a slow speed as they can pop from the print bed. For the active links, use “For support enforcers only” support setting and highlight everything except for the hole. After printing, all 12 holes need to be threaded with an M3 tap set.

Parts can be scaled up but I don't recommend scaling them down.

NOTE: If you print on a glass bed, I recommend using elephant's foot compensation when printing the joints to avoid having the bottom layer fuse together.