RobotArm
di ftobler
File stampabili (39)
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stlstabilizer.stl
373 Ko · 73 570 download
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stlpleuel_bend.stl
241 Ko · 73 076 download
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stlupperShank.stl
348 Ko · 72 962 download
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stlsocket.stl
737 Ko · 73 015 download
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stlsocket_clearanceWoSetScrew.stl
746 Ko · 72 039 download
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stlbaseRing.stl
555 Ko · 72 850 download
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stlstabilizer_endstop.stl
652 Ko · 72 750 download
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stlGearBig_0.05mmTolerance.stl
1.1 Mo · 72 649 download
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stlbase.stl
1.2 Mo · 72 786 download
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stlbase_w_hole.stl
1.6 Mo · 72 501 download
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stlGearBig_0.20mmTolerance.stl
1 Mo · 72 528 download
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stlGearBig_0.01mmTolerance.stl
1.1 Mo · 72 447 download
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stltriplate.stl
1.1 Mo · 72 558 download
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stlGearRotate_0.05mmTolerance.stl
1 Mo · 72 403 download
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stlGearRotate_0.01mmTolerance.stl
1 Mo · 72 325 download
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stlGearRotate_0.15mmTolerance.stl
1021 Ko · 72 286 download
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stlGearRotate_0.10mmTolerance.stl
1 Mo · 72 300 download
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stlgripperHolePlate.stl
183 Ko · 72 476 download
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stlGearSmall.stl
533 Ko · 72 596 download
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stlleg_30mm.stl
335 Ko · 72 218 download
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stlleg_35mm.stl
322 Ko · 72 200 download
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stlleg_40mm.stl
319 Ko · 72 166 download
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stlgripperBase.stl
217 Ko · 72 271 download
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stlGearRotate_0.20mmTolerance.stl
1 Mo · 72 021 download
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stlleg_45mm.stl
313 Ko · 72 005 download
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stlGearBig_0.15mmTolerance.stl
1 Mo · 71 949 download
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stlleg_50mm.stl
305 Ko · 71 985 download
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stlmanipulator.stl
287 Ko · 72 104 download
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stllowerShank.stl
349 Ko · 72 056 download
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stlpleuel.stl
207 Ko · 71 968 download
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stllever.stl
325 Ko · 72 021 download
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stlgripperFinger.stl
237 Ko · 72 075 download
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stlGearBig_0.10mmTolerance.stl
1.1 Mo · 71 794 download
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stlcontrol_bottom.stl
491 Ko · 71 862 download
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stlcontrol_top.stl
606 Ko · 71 793 download
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stlGearRotate_-0.20mmTolerance.stl
981 Ko · 67 547 download
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stlGearRotate_-0.05mmTolerance.stl
934 Ko · 67 470 download
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stlGearRotate_-0.15mmTolerance.stl
981 Ko · 67 511 download
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stlGearRotate_-0.10mmTolerance.stl
981 Ko · 67 507 download
Descrizione
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