DIY delta 3D printer using low cost recycled parts

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This is a filament deposition delta 3D printer, was designed and built in 2013 using recycled parts from old dot matrix printers and flatbed scanner. FDM (Fused Deposition Modeling) is a layer additive manufacturing (or 3D Printing) process that uses production-grade thermoplastic materials to produce both prototype and end-use parts using a number of thermoplastic FDM materials that can be used for direct digital manufacturing including ABS, PC-ISO polycarbonate and Ultem-9085 for high-temperature applications. A delta robot mechanism was used to move the extruder. It is a type of parallel robot that consists of six parallel arms connected to three parallel sliders at the base. The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector which restrict the movement of the end platform to pure translation, i.e. only movement in the X, Y or Z direction.(photos are taken by

3D printing octopus

Design goals:

## Build volume: 200x200x200 mm
## Footprint: 600x650 mm
## Print surface: 200x200 mm heated glass which never moves.
## Mass of end effector with hotend: less than 600 grams.
## Positioning speed: up to 80 mm/s in all 3 directions.
## Positioning accuracy: at least 10 steps/mm in all 3 directions.
## Simplicity and use of recycled parts
## Hardware cost: less than $400 USD.

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fusiondew.2 months ago

anyone have a general parts list for this model?

im sorry if im being dense here but this schem. seems to be pretty vauge. can you elaborate. on were each scaveenged part is what it is and were to get non scavenged parts

акостин10 months ago

Good design:) I try to repeat it in the arduino uno. Please tell me how to configure Repetier.

hesamh (author)  акостин10 months ago

Sure I will tell you. It depends on your extruder nozzle diameter and feed rate. Tell me the specs of your design and I will tell you. Also I tried using Arduino mega 2560 but serial connection was too slow and although i tried hard but couldn't solve it so I changed to Leonardo again. I suggest you use Rostock reprap firmware and electronic, it is a delta robot 3D printer prototype

Thanks:) I use the extruder nozzle diameter 0.4 mm and a speed of 2 mm/sec. Rod with a diameter of 1.75 mm Rostock reprap uses a modified Marlin firmware, as it is too large for Arduino UNO. Maybe there is another version of the firmware?

hesamh (author)  акостин10 months ago

I wrote a code that interprets Gcode made by Repetier and then send simple command to Arduino board and used two separate temperature controller, these made the firmware very simple.

For a .4 mm nozzle "layer height" should be .354 mm and extrusion multiplier is 19.4. there are other settings that depends on you use SFACT or Slic3r

Thank you. I also like the idea of using two external temperature regulator. I can see your code that interprets Gcode, and firmware Arduino? And what firmware do I choose in the settings Slic3r?

hesamh (author)  акостин10 months ago

You can download my arduino code in step 8 and about firmware in Slic3r I use Merlin. Sfact works better and is more flexible for me but had some problem in hollow models that had selfintersecting faces, so I used Slic3r for hollow models.

I flashed Arduino your firmware and connected to Repetier, but the seal is still not talking. Engine is one of the axes, when connecting Arduino to the computer raises up and stops. No more action! Please tell me what could be wrong?

hesamh (author)  акостин10 months ago

Tell me how is connection between Arduino and step motors? do you use Reprap RAMPS board?

I use EasyDriver V4 connected on your outline to Arduino UNO.


When the firmware Arduino file grbl.hex, the device works fine under program control grbl.

hesamh (author)  акостин10 months ago

Can you detect home position sensor signal?

With sensors positions home okay. The printer after switching back home. The problem is that the printer does not perform commands sent Repetier. Arduino do not react to commands sent through the port monitor. Perhaps the problem is in the firmware zspulsecwextr2? In General, what is the format of the commands sent Repetier in Arduino? What version are you using Repetier?

hesamh (author)  акостин10 months ago

Please read step8, I explained the command, you should also set baud rate of serial port to match in arduino and in PC

Thanks for the help. I still don't understand. Commands in Arduino sends Repetier or your own software? If I always apply to team 1(00000001),1,1,1 the first slider will move up?

hesamh (author)  акостин10 months ago

Commands to Arduino is sent by my own software

You will not share with me the software? I would be very grateful!

hesamh (author)  акостин5 months ago

Hi акостин

, I uploaded the Octave function that calculates three slide motion from XYZ of the hotend in last step. Please check and tell me your opinion.

Did you finish your 3D printer?

hesamh (author)  акостин10 months ago

Any success in your design?

hesamh (author)  акостин10 months ago

it is like GRBL, just in "stepper.cpp" you should change "stepper output bits" so that it writes on a command file that later is send to arduino through serial port, you should compile GRBL in PC

If you can run GRBL on your arduino UNO it is better to change the setting and read Gcode by arduino that comes from Repetier

Only checked. The problem was with connecting drivers motors to the control Board. When sending different numbers through the port monitor, move the sliders! Now please help with a program on the computer to send bytes to Arduino. Which program to use and how to configure?

hesamh (author)  акостин10 months ago

you should write your own code that reads Gcode file and calculates commands based on your configuration, my code doesn't help you. there are some Gcode parser that can be used as a part of your code. Use GRBL and change the command section in "stepper.cpp"

Thanks for the help. I'm afraid that I can't write your code. I am not a programmer:( Maybe you will give me your code, at least for the sample. No wonder that I collected machine:)

hesamh (author)  акостин10 months ago

Any improvement? does it work?

hesamh (author)  акостин10 months ago

I suggest you to use Arduino mega 2560 with available firmwares that just needs some settings and no need to program

MichaelF66 months ago

Hi, great design, i'm going to build my own in near future, i think.

But i don't get one thing: How to Calculate the GCode-Data, which has x,y,z Axes, to the Delta-Axes? How do i calculate, how many steps are needed of which Stepper, when GCode says "move that amount of steps on x-axis"?

Your Windows software is responsible for this, right? Do you just have the mathematics for this for us? :)

hesamh (author)  MichaelF66 months ago
Hi Micheal, I uploaded the Octave function that calculates three slide motion from XYZ of the hotend in last step. Please check and tell me your opinion.
thalescb10 months ago

Hey, could you please break down this for beginners/dummies? It's a bit hard to understand what you've done after step 2, I really want to re-create this..

Also could you please include the parts list? A schematic of what goes were would be great too. Thanks!

thalescb thalescb10 months ago

Like, when you say in Step#3 that "unnecessary parts were cut out"... What are the unnecessary parts and how do they look like? I'm having a hard time to name the parts and components, and to be able to distinct them of another

hesamh (author)  thalescb10 months ago

whole paper handling mechanism including step motors and rollers should be cut out, like this photo:

hesamh (author)  thalescb10 months ago

Ok, I will add more info and also want to insert another instructable for slider part only, because slider can be used in other robotic and CNC projects

Michael_oz10 months ago

Nice example of re-purposing.

Where did you get the ball-ends and motors, also re-purposed?

hesamh (author)  Michael_oz10 months ago

Thanks Micheal, They are standard 3 mm ball ends (PHS female type ball end) were bought from bearing shop each for 2 $ and rods are flybar of ALIGN helicopter model 340 mm lenght

themanwoaname10 months ago

what is the printing space of this?

hesamh (author)  themanwoaname10 months ago

You can see build volume in Intro 200x200x200 mm

Michael_oz10 months ago

You repeated a bit there (step 3)

sbkenn10 months ago

I have an old Seiko pick-n-place robot just begging to be adapted for this purpose. It has about 36" x 18" work area so "just" needs a vertical axix, printhead and drive electronics. Yay, and thanks.

hesamh (author)  sbkenn10 months ago

Good luck, you can move heated bed vertically instead of installing on end effector

mickcaulton10 months ago

Getting inspired to build a 3D printer. i was very interested in the Delta mechanism you used to moving the printer head.

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