2024 10th International Conference on Advanced Computing and Communication Systems (ICACCS)

Design of Delta Arm for Multi-Purpose Agribot

2024 10th International Conference on Advanced Computing and Communication Systems (ICACCS) | 979-8-3503-8436-9/24/$31.00 ©2024 IEEE | DOI: 10.1109/ICACCS60874.2024.10717240

Sathesh S Maheswaran S Rega P

Department of Electronics and Department of Electronics and Department of Electronics and
Communication Engineering Communication Engineering Communication Engineering
Kongu Engineering College Kongu Engineering College Angel College of Engineering and
Erode, Tamil Nadu, India. Erode, Tamil Nadu, India. Technology
[email protected] [email protected] Tiruppur, Tamil Nadu, India.
0000-0002-4571-0247 0000-0002-1836-1117 [email protected]

Sowmitha K Shivabalan S R Sukhundhan V S

Department of Electronics and Department of Electronics and Department of Electronics and
Communication Engineering Communication Engineering Communication Engineering
Kongu Engineering College Kongu Engineering College Kongu Engineering College
Erode, Tamil Nadu, India. Erode, Tamil Nadu, India. Erode, Tamil Nadu, India.
[email protected] [email protected] [email protected]

Abstract—In agricultural spheres, numerous challenges supplementary fertilizers to sustain crop yield. The quest
persist, notably revolving around tasks such as weed for more precise, effective, and environmentally
eradication, horti- culture, and the precise application of
herbicides and fertilizers. The cost of individual robots tailored
sustainable methods has spurred the ex- ploration of robotic
to each of these tasks remains prohibitively high for many solutions [1]. In this context, precision agriculture
common farmers. To address this, a delta arm has been selected techniques have gained traction as a means to optimize
for its versatility, capable of both spraying and weed removal resource utilization while mitigating adverse envi-
with enhanced accuracy and minimal environmental impact. ronmental impacts [2]. The cost of employing separate
The principal aim of this study is to devise a delta arm
capable of efficient multi directional movement. The robots for different agricultural tasks is prohibitive, given
interplay between the active and passive arms is crucial, as is that existing market robots lack the ability to perform
the circular design of the end effector and base platforms, multiple functions. To address this challenge, a delta arm
ensuring optimal functionality and movement along all axes. robot has been employed for precision tasks such as spraying
The integration of delta arm robotics into agricultural fertilizers, targeted weed removal, and irrigation. Its
practices holds immense potential for revolutionizing the
industry in the forthcoming years, offering the advantage of versatility lies in the capability to adapt its end effector,
versatile task execution at high speeds. which facilitates various operations. For instance, weed
removal is achieved using an attached driller, while
Keywords—Delta arm, passive arm, active arm, fertilizer fertilization or herbicide spraying is executed through a
spraying, L298 driver, end effector, multi-purpose bot, sprinkler integrated into the platform.
raspberrypi, robotic arm, servo motor, weed control.
At the forefront of these technological advancements
I. INTRODUCTION lies the incorporation of robotics into agriculture. Robotic
Agriculture serves as the cornerstone of economies systems present the opportunity to boost agricultural
world- wide, offering sustenance, employment productivity, sustainability, and efficiency while tackling
opportunities, and es- sential materials for various issues like labor scarcity, resource inefficiency, and
industries. With the continuous growth of the global environmental impacts. A significant example within this
population, the demand for food pro- duction escalates. framework is the utilization of the delta arm robot for
Agriculture faces significant hurdles such as climate precise fertilization spraying, targeted weed eradication, and
change, soil depletion, pest infestations, diseases, weed irrigation. This study encompasses the creation,
management, horticulture challenges, and the application of advancement, and application of the delta arm in
herbicides and fertilizers. Weeds compete with crops, ne- agricultural settings. The primary aim of this research is to
cessitating labor-intensive manual removal, while engineer a robot that is compact, portable, and adaptable to
horticulture demands meticulous environmental control. The execute multiple tasks.
application of herbicides and fertilizers poses health risks to
The delta arm is distinguished by its distinctive parallel
farmers and con- sumers, affecting the environment and
kinematic structure, which offers high flexibility [3]. It pro-
ecological equilibrium. Additionally, shifting environmental
vides exceptional rigidity, speed, and accuracy, rendering it
conditions contribute to declining soil fertility, requiring

979-8-3503-8436-9/24/$31.00©2024 IEEE

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 2024 10th International Conference on Advanced Computing and Communication Systems (ICACCS)

well-suited for agricultural tasks demanding precision and these factors uniquely influence the robot’s performance [9].
repetitive actions. Comprising three parallel robotic arms in- Clavel’s robot stands as a pioneering tool in the exploration
terconnected at a shared end effector with three degrees of of parallel robots, facilitating reconfiguration and size
freedom, the delta robot ensures smooth and precise motion modifications to investigate different robots with unique
along all axes. Its distinctive kinematic arrangement traits [10]. It provides valuable insights into accuracy,
facilitates seamless movement in all directions. The stiffness, compliance, and force characteristics.
fundamental ele- ments of the delta arm encompass the base
A new approach to dynamic modeling [11] for flexible
platform, active arm, passive arm, and end effector. Through
bar-group robots, considering flexible joints, connections,
the incorporation of state-of-the-art technologies and
and joint clearance. This method enhances existing
sophisticated control sys- tems, the delta arm can be tailored
techniques in terms of precision, efficiency, and dynamic
for various tasks [4]. A key benefit of utilizing the delta arm
models for flexible links and joints. A dynamic analysis
in agriculture is its precision. When it comes to agricultural
formula for parallel robots with flexible links is presented
practices, the delta arm offers superior accuracy compared
[10]. High-speed pick-and-place robots encounter challenges
to traditional methods like back- pack sprayers; it can apply
with varying inertia loads [12]. A method for tuning
chemicals with greater precision. Its proficiency lies in
parameters of the
accurately distributing fertilizers and precisely removing
weeds, thereby minimizing wastage and enhancing the fixed-gain motion controller is proposed, utilizing sinusoidal
efficiency of these essential activities. This leads to reduced excitation to identify servo system parameters in the
waste and heightened effectiveness in fertilizer application frequency domain. An automated tea plucking robot,
and weed control. Additionally, the delta arm can cover revolutionizing the tea production process [13], incorporates
more ground in less time compared to conventionalmethods. a flexible mechanical design, an advanced visual recognition
The research, development, and practical implement of a system (VRS) employ- ing computer vision and machine
robotic delta arm system for precise agricultural tasks are learning techniques, and a precise motion control system.
explored [5].
A distinctive concurrent control structure is introduced
This research outcome presents the movement patterns of for a MIMO time-varying system [14], focusing on a three-
each arm, categorized into two types: parallel and mixed degree- of-freedom (DOF) delta robot. To effectively
com- binations. In parallel combinations, all arms exhibit the remove and replace unfit seedlings in trays for assessing
same angle, whereas in mixed combinations, each arm seedling health and locating them, an image recognition
assumes a different angle. The integration of delta arm system is developed. Leaf damage during transplantation is
robots intoagriculture holds the potential to revolutionize the minimized [15]. Various controllers for delta robots are
industry in the coming years, given its ability to perform explored, with an emphasis on stability under varying
diverse tasks at high speeds. Delta arms in agricultural operating conditions [16]. The proposed PID controller,
applications profoundly impact crop production, security, which is independent of the robot’s mathematical model,
and environmental sustain- ability on a global scale. surpasses traditional PID methods. This research offers
Utilizing delta arms for precision fertilizer spraying and valuable insights into advanced control strate- gies [17] for
weed control marks a significant stride towards sustainable delta robots, promising more resilient systems for dynamic
agriculture. This article establishes the foundation for a applications. Significant improvements in [18] trajectory
comprehensive exploration of their utilization, advantages, tracking for a parallel delta robot in the presence of
and implications in the agricultural sector, em- phasizing the external disturbances are achieved [19] using an adap-
necessity for ongoing research and development to advance tive robust iterative learning control method. This approach
more efficient and environmentally sound farming practices. achieves faster convergence, enhanced tracking accuracy,
and efficient disturbance rejection through the integration of
II. LITERATURE REVIEW adap-tive proportional-derivative control in [20].
An assessment of motion precision in delta robots, specif-
A target spray platform is devised to decrease the usage
ically examining the impact of parallelism error within the
of chemicals in agriculture and promote sustainability [21].
passive arm’s parallel mechanism and loading effects [6].
The approach for analyzing reconfigurable parallel
The study formulates kinematic equations utilizing the space
mechanisms outlined in this study is comprehensive and
vector method to derive forward solutions. A design and
efficient, allowing for calculations of both analytical and
control system for a cost-effective delta robot [7], with
numerical mobility [22]. These mechanisms offer enhanced
the goal of improving industrial productivity, particularly for
flexibility, adapting into various conventional parallel
pick- and-place operations and autonomous manufacturing
mechanisms. The method precisely computes and illustrates
lines. Analyzing the dynamic behavior of [8] a delta parallel
the interconnected mobility of multiple end-effectors. A
robot concerning elasticity, friction, and joint clearances, as
mechanism is introduced in [23], offering a practical and

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 2024 10th International Conference on Advanced Computing and Communication Systems (ICACCS)

adaptable approach for handling trays of diverse sizes and

serving as a valuable prototype for universal end-effector
designs [24]. The study’s overall resultsshowcase significant
advancements in autonomous seedling extraction
technologies, benefiting agricultural transplanting
procedures.
As per the research findings, delta arm robots were origi-
nally designed for pick-and-place tasks within industrial set-
tings. This hampers their adaptability and economic
feasibility for agricultural use. A significant research gap
exists due to the absence of technology enabling delta
arm robots to perform multiple functions in agricultural
contexts. The study underscores the benefits of developing
such versatile robots. However, current technology does not
support delta arm robots in multitasking. The end effector
could play a pivotal role by being interchangeable, allowing
the robot to perform various tasks for farmers. Delta arm Fig. 1: Delta Arm Parts
robots can efficiently eradicate weeds and apply fertilizers
Fig. 1 depicts the labeled parts of the delta arm
or herbicides at a lower cost, offering substantial assistance
shown in this image. Three servo motors control the
to farmers. These robots have the capability to undertake a
movement of the individual arms. Despite being constructed
diverse array of tasks, contingent upon the type of end
from iron, this delta arm model is lightweight, enhancing its
effector utilized. Thus, the objective is
portability and ease of handling. A detailed description of
to create a delta arm robot capable of removing weeds and each component is provided.
accurately applying fertilizer or herbicides, thereby
B. Base platform
addressingthe needs of agricultural operations.
The base platform acts as the foundation of the delta arm,
III. PROPOSED METHOD - DELTA ARM ensuring stability for the entire assembly. It remains
A delta arm represents a form of parallel robot immobile during the robot’s operation. The three active
mechanism comprising three interconnected arms positioned arms connect to this platform at fixed locations, forming the
in a triangu- lar layout. These arms are affixed to a triangular arrangement characteristic of the delta arm’s
stationary base at one end and a mobile platform at the design.
opposite end, facilitating swift, accurate, and coordinated C. Active Motor
movement. The mobile plat- form comprises two primary
components—the active arm and the passive arm—that The active motor, referred to as the actuator, is tasked
dictate the motion of the delta arm. with imparting motion to the delta arm. Each of the three
active arms is linked to an active motor, which generates the
A. Delta Arm Parts requisiteforces and motions to manipulate the position of the
The Delta Arm comprises two platforms: the base robot’s end effector. Usually, these motors consist of servo
platform and the end effector. The base platform consists of motors or linear actuators, providing accurate control.
three stationary components, while the end effector includes
D. Active arm
four components that become mobile when powered. Table
1 presents the dimensions of the Delta Arm’s robotic parts, In a delta arm, there are three active arms, each linked
measured in millimeters. The dimensions of the active arm to an active motor at one end and a passive arm at the other.
and passive arm are meticulously calculated and maintain a The active arm is designed to be shorter than the passive
ratio to enable movement in all directions. This capability is arm to facilitate greater movement in all directions. These
crucial for agricultural applications, as crops can grow active arms transfer the motion generated by the motors to
anywhere. Addi- tionally, both the base platform and the end the passive arms. As the active motors move, they induce
effector are evenly divided for their three wings. These pivoting in the active arms, consequently regulating the
measurements ensure that the Delta Arm can efficiently orientation andpositioning of the end effector.
move in all directions. E. Passive arm
The passive arms are connected to the active arms at one
end and to the end effector at the other. The passive arm
should be greater height than the active arm as it provides

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 2024 10th International Conference on Advanced Computing and Communication Systems (ICACCS)

greater movement in all directions. These arms mirror the the1,the2and the3 represents theta.
movements of the active arms, enabling coordinated motion
of the platform. The passive arms transmit the motion from V. DELTA ARM DESIGN
the active arms to the end effector while maintaining the The depicted delta arm figures illustrate movement,
desired geometry of the delta robot. torque, and flexibility, which are determined by the
measurements between the active arm and the passive arm.
F. End effector
These measure- ments are crucial for ensuring optimal
The end effector serves as the terminal component of the movement of the delta arm in all directions. Let’s examine
delta arm, responsible for executing designated tasks such as each figure individually to understand its applications. Fig.2
object manipulation. Attached to this platform are the shows the different parts and component of delta arm.
passive arms, enabling precise and swift movement. The
design of the end effector can vary depending on the
specific application, but it is typically engineered to securely
hold tools or objects during operation. To summarize, the
delta arm’s base platform ensures stability, active motors
produce motion, active arms convey this motion, active arms
replicate the motion to the end effector, and the end effector
executes tasks in a synchronized and accurate manner. This
amalgamation of elements enables the delta arm to achieve
swift and precise movements within its designated
operational area.

IV. MATHEMATICAL EQUATION OF DELTA ARM

The motors are installed within the base platform of the
delta arm, dictating the motion of an end effector based on
specified angles, thereby determining the orientation of x, y,
and z coordinates. It primarily concerns motor angles and
the movement of X, Y, and Z coordinates.
Fig. 2: Passive arm and active arm Measurement
The motor angles can be determined when the Comparison
orientation of X, Y, and Z is established. This process
utilizes the end effector’s position (X, Y, and Z) at a If the active arm surpasses the passive arm in length, it
particular location to compute the positions of the servo results in a reduced range of motion, lower torque, and a
motor angles. It is essentialfor achieving precise positioning, lack of flexibility. Consequently, the delta arm in this
orientation, and movement of the delta robot in real-time configurationcannot move in all directions.
control within agricultural environments. The desired end
effector position and the mo- tor angles are mathematically
derived using geometric and trigonometric relationships.
Knowing the angles of the motor allows for the
determination of the orientation of X, Y, and Z coordinates.

The equations from (1) to (8) helps in deriving the final Fig. 3: Flexible Joints
X, Y, Z coordinate points in mathematical equation, where

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 2024 10th International Conference on Advanced Computing and Communication Systems (ICACCS)

Conversely, if the passive arm exceeds the active arm in execution takes place through the Thonny IDE, which
length, it offers a greater range of motion, higher torque, interfaces with the Raspberry Pi. Since the servo motors
and require a 12V supply, and theRaspberry Pi can only provide
flexibility. In this setup, the delta arm can move in all 5V, three H-bridge drivers are required to supply 12V to the
three directions. three servo motors. The servo motors operate based on the
angles specified in the code by the user. The orientation
The joint connecting the active arm and passive arm is
of the Delta arm is determined by the angles of the
designed in a U-type model, providing both flexibility and
motors.
stability. This design feature enables the delta arm to easily
maneuver around all axes. VIII. RESULT AND DISCUSSION
Fig.3 displays the flexible joints of the delta arm which is The movement of the delta arm is dictated by the angles
crucial for free and high range of movement in all of the motors. The user specifies the angle at which each
direction. arm of the delta arm should move. There are two types of
movements:parallel combination and mixed combination. In
VI. METHODOLOGY the parallel combination, all three motors have the same
The delta arm is paired with a Raspberry Pi and three angle. In the mixed combination, the angles of the three
servo motors, responsible for moving the arms along with motors are not the same.
the end effector. Input is provided through the Raspberry Pi
TABLE I: PARALLEL COMBINATION OF ANGLES AND
at 5V, which sends signals to each servo motor. However,
MEASUREMENT
since the servo motors require a 12V supply, an H-bridge
driver (L298N bridge module) is necessary. Fig.4 illustrates Motor 1 (degree) 0 45 90 135
the block diagram Motor 2 (degree) 0 45 90 135
Motor 3 (degree) 0 45 90 135
X (mm) 0 0 0 0
Y (mm) 0 0 0 0
Z (mm) 115 -195 -238 -285

The Table I displays the parallel combination of angles

and its measurement. The parallel combination is feeding
same angle to all the three servo motors. Z direction is the
only one that varies. The direction of X and Y is constant.
TABLE II: MIXED COMBINATION OF ANGLES AND
MEASUREMENT

Fig. 4: Block Diagram of Delta Arm Motor 1 (degree) 90 45 -90 0

Motor 2 (degree) 90 45 90 90
of the delta arm, with each servo motor featuring four Motor 3 (degree) 45 90 45 90
control pins assigned to specific GPIO pins on the X (mm) -101 143 -120 0
Y (mm) 61.8 -82.7 -245 -128
Raspberry Pi. The H-bridge driver (L298N bridge module) Z (mm) -214.2 186 -47.5 -144
receives input from the Raspberry Pi and connects to the
respective servo motors via output pins. Each servo motor
Table II presents the mixed combination of angles along
can rotate 360 degrees in 48
with their measurements. This mixed combination causes
steps per revolution. The steps and angle positions are changes in all three directions by feeding the servo motors
inputted by the user to the Raspberry Pi for the three servo with different angles. The formulae given in the delta arm’s
motors using Python language in the Thonny IDE. kinematic equation are used to generate the values. These
Consequently, the end effector moves according to the values determine the orientation of X, Y, and Z based on
defined angles of the three servo motors. the specified angles. In this Fig.5, the graph shows the
accuracy of three motor angles. All three motors are
VII. HARDWARE IMPLEMENTATION represented individually using different colours. The little
For the hardware implementation of the Delta arm, the variation happens due to torque loss and voltage
necessary components include a Raspberry Pi, three H- fluctuations. This can be rectified by using high-torque
bridge drivers, three servo motors, a 12V power supply, and motors and a switched-mode power supply (SMPS) to
a 5V power supply. The Raspberry Pi operates on a 5V provide sufficient power to the setup.
supply, with a common ground connection. The code

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 2024 10th International Conference on Advanced Computing and Communication Systems (ICACCS)

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