This project presents the design and fabrication of an IoT-based Delta Robot for automated object sorting using an ESP32-CAM and Arduino Nano. The system enables real-time monitoring and control through a web interface while viewing live video from the ESP32 camera. The ESP32-CAM captures the workspace and transmits video to the user, allowing remote observation and control of the robot through a web browser. The Arduino Nano acts as the main controller that processes commands and controls all the actuators in the system. The delta robot mechanism consists of three servo motors placed at the joints of the robot arms, which control the movement of the end effector in multiple directions such as front, back, left, and right. The robotic structure includes distal joints connected through parallelogram linkages, ensuring stable and precise movement of the lower base plate. A suction gripper mechanism driven through a relay-controlled suction motor is mounted at the end effector to perform pick-and-place operations. A stepper motor with an L298 driver is used to provide additional front-and-back motion, improving the working range of the robot. Two limit switches are incorporated to ensure safety and proper positioning during operation. The servo motors are controlled by pulse signals generated by the Arduino Nano microcontroller, which is programmed to coordinate the movements of all joints while preventing collisions between links. The integration of IoT technology enables remote monitoring and control, making the system suitable for modern automation applications. This project demonstrates an efficient, low-cost robotic solution for automated sorting tasks in industrial and laboratory environments.        

Objective:

  To design and fabricate a delta robot mechanism for pick-and-place operations.

  To integrate ESP32-CAM for live video monitoring through the internet.

  To control the robotic movements using Arduino Nano and servo motors.

  To implement a suction gripper system for object picking and placement.

  To use limit switches for safe and accurate positioning of the robot.

  To develop a web interface for remote control and monitoring.          

The main building blocks of the project are:

• Power supply.
• ESP32 CAMERA.
• Three Servo motors.
• Stepper Motor with l298 driver.
• Arduino Nano.
• LCD display.
• Relay along with Suction Motor
• Two limit switches.

     

Software’s used:

• Arduino IDE for Embedded C programming.
• Express SCH for Circuit design.

         

video: