The report summarises a bachelor’s individual project that includes the design, manufacturing, and programming of a parallel kinematic robot, specifically a delta robot, functioning as a pen plotter for icing to be used for cake decoration. This device was designed with the intention to be used as an engaging educational demonstration of parallel kinematic robotics.

During this project the following has been achieved: A full SolidWorks model of the mechanical system has been completed, including dimensions and materials. The 3D printed parts modelled in CAD have been printed, and the machined elements have been manufactured. The system has been assembled, and mechanical parts tested for carrying out functions. The electronic components of the system were selected, and the circuit board was designed and assembled with the servo motors. The robotic control program for the servos has been coded and downloaded onto the robot’s microcontroller, and the system has been successfully demonstrated in two motor control experiments.

During the prototyping phase, multiple alterations were made to the schematics. One change was that the parts that connect the bottom of the robot’s arms to the motors were changed to slot over the motor’s included plastic arms rather than slotting over the motor head itself, since the Nylon 12 material used for the parts did not have the precision necessary to create the appropriate pattern to slot into the motor head’s teeth.

Potential further work for this project could include a more thorough servo control program, with a full decoration demonstration. The icing ejection system could be designed and implemented into the model. Had there been more time, these would have been part of the project itself.