RobotArm
par ftobler
Fichiers imprimables (39)
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stlstabilizer.stl
373 Ko · 73 570 téléchargements
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stlpleuel_bend.stl
241 Ko · 73 076 téléchargements
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stlupperShank.stl
348 Ko · 72 962 téléchargements
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stlsocket.stl
737 Ko · 73 015 téléchargements
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stlsocket_clearanceWoSetScrew.stl
746 Ko · 72 039 téléchargements
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stlbaseRing.stl
555 Ko · 72 850 téléchargements
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stlstabilizer_endstop.stl
652 Ko · 72 750 téléchargements
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stlGearBig_0.05mmTolerance.stl
1.1 Mo · 72 649 téléchargements
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stlbase.stl
1.2 Mo · 72 786 téléchargements
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stlbase_w_hole.stl
1.6 Mo · 72 501 téléchargements
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stlGearBig_0.20mmTolerance.stl
1 Mo · 72 528 téléchargements
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stlGearBig_0.01mmTolerance.stl
1.1 Mo · 72 447 téléchargements
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stltriplate.stl
1.1 Mo · 72 558 téléchargements
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stlGearRotate_0.05mmTolerance.stl
1 Mo · 72 403 téléchargements
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stlGearRotate_0.01mmTolerance.stl
1 Mo · 72 325 téléchargements
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stlGearRotate_0.15mmTolerance.stl
1021 Ko · 72 286 téléchargements
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stlGearRotate_0.10mmTolerance.stl
1 Mo · 72 300 téléchargements
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stlgripperHolePlate.stl
183 Ko · 72 476 téléchargements
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stlGearSmall.stl
533 Ko · 72 596 téléchargements
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stlleg_30mm.stl
335 Ko · 72 218 téléchargements
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stlleg_35mm.stl
322 Ko · 72 200 téléchargements
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stlleg_40mm.stl
319 Ko · 72 166 téléchargements
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stlgripperBase.stl
217 Ko · 72 271 téléchargements
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stlGearRotate_0.20mmTolerance.stl
1 Mo · 72 021 téléchargements
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stlleg_45mm.stl
313 Ko · 72 005 téléchargements
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stlGearBig_0.15mmTolerance.stl
1 Mo · 71 949 téléchargements
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stlleg_50mm.stl
305 Ko · 71 985 téléchargements
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stlmanipulator.stl
287 Ko · 72 104 téléchargements
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stllowerShank.stl
349 Ko · 72 056 téléchargements
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stlpleuel.stl
207 Ko · 71 968 téléchargements
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stllever.stl
325 Ko · 72 021 téléchargements
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stlgripperFinger.stl
237 Ko · 72 075 téléchargements
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stlGearBig_0.10mmTolerance.stl
1.1 Mo · 71 794 téléchargements
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stlcontrol_bottom.stl
491 Ko · 71 862 téléchargements
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stlcontrol_top.stl
606 Ko · 71 793 téléchargements
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stlGearRotate_-0.20mmTolerance.stl
981 Ko · 67 547 téléchargements
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stlGearRotate_-0.05mmTolerance.stl
934 Ko · 67 470 téléchargements
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stlGearRotate_-0.15mmTolerance.stl
981 Ko · 67 511 téléchargements
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stlGearRotate_-0.10mmTolerance.stl
981 Ko · 67 507 téléchargements
Description
This is a 3D Printable Robot Arm. It may need a bit more time to build one, than your normal weekend Project. But the build process is one thing, the application environment the other. And that is what it is all about. Learning, combining and developing custom applications.
If you make a derivative, please only upload the parts you changed. Thanks.
There are a few community driven derivations and projects around, so check them out!
- Some useful derivations such as end switches and a belt drive can improve your RobotArm build.
- 20sffactory has created a support group on Facebook https://www.facebook.com/groups/828749637471209
- 20sffactory has also a python voice control Project, check it out on Github https://github.com/20sffactory/voicebot_opensource
- Aaron Huang pointed out some errors in the inverse kinematics: https://github.com/AaronHuang1228/Question-for-RobotArm Code and Documentation updated accordingly
Please message me for an entry or addition to this list.
HardwareThe design goal for me was to build a Robot, which is stiff and strong, but still small and easy to handle. I used the common NEMA17 Step Motors, which provide enough power for fast movements and high precision.
Almost every moveable joint has at least one ball bearing to reduce friction, overall stability and accuracy. The robot is designed to have a low center of mass.
The robot is powered over a Computer Power Supply (12V).
The gripper is easy to replace and is held horizontally in every position, which simplifies programming and also reduces the cost and complexity of additional axies.
Most parts have a industrial look like cast Iron parts.
Software is now on Github here: https://github.com/ftobler/robotArm/
The control system uses an Arduino Mega with a RAMPS 1.4 Board and A4988 Drivers. I provide a solid and working programming base for the Arduino, which handles the Interpolation of the stepper motors, makes all geometric calculations and smooth accelerations. It can handle some sort of GCODE communication over Serial.
The software can be directly used without modifying or additional hardware like sensors can be added.
To get you started, I have a simple Interface for your Windows Computer, which has a sequencer and manual control options built in.
You should already have some decent programming skills to modify and use the Software. I am recommending this, because in my opinion programming is a key part of using a robot. Without it you can only scratch the surface of what's really possible.
AssemblyThere are multiple versions of the big Gears. You may want to print them multiple times, if needed to reduce the gear slack of the rotational axis to a minimum. Depending on how high your Stepper Motor is, choose an appropriate leg height. Use Superglue to fix the bearings, if necessary. I have not cut any threads in the plastic. With PLA (maybe also others) you can 'melt' your thread through friction in, but you might want to drill the holes out a bit.
The Wiring of the Robot is not different from a 3D Printer that uses a RAMPS board. Use the official documentation: http://www.reprap.org/wiki/RAMPS_1.4
You can find details about the dimensions in 'doc2.pdf'
VideoI made a 3D animation, which gives you a good technical overview and a I show a simple application in another video.
Animation: https://youtu.be/-LztK9TKcZk
Actual Robot: https://youtu.be/HLlylJr_Vs4