Project
Project Mitosis — 3D-Printed Delta 3D Printer
- STM32
- C++ Firmware
- PCB Design
- Robotics
A from-scratch delta 3D printer built with Northeastern’s robotics club. I owned the electronics and firmware — a CadLab-designed PCB driving three stepper motors, and the C++ firmware that turns coordinates into synchronized parallel-kinematic motion.
Overview
NURobotics project building a delta 3D printer from scratch. Designed and software-tested a CadLab PCB that interfaces an STM32 with stepper motor drivers, and wrote C++ firmware that synchronizes three steppers to execute parallel kinematic motion.
What I worked on
I designed and software-validated the PCB that interfaces an STM32 with the stepper drivers, then wrote the firmware that solves the delta inverse kinematics and synchronizes the three steppers so the effector follows a clean Cartesian path. Calibration and homing routines were part of the firmware as well.
What I learned
Parallel kinematics are unforgiving — a small error in one arm shows up as a tilted, distorted print. Getting it right was a useful lesson in how much firmware-level precision (timing, step counting, acceleration profiles) matters when the mechanics can’t cover for you.