模型说明
Remixed veion of the SCARA robotic arm.
Masses (moto) were shifted. Two moto act as counterweights. The lifter motor was shifted closer to the basement.
The Opecad file is provided with a belt length calculator.
The STL model was optimized for belts of 336 and 260 mm.
Prototype easily lifts 1200 g and 500 g of payload, as it is visible in videos.
A parametric gripper was designed. The opecad file gives the max and min gripping widths with respect to user's paramete. It is fully customizable, also for the servo used.
See image for further information.
EDIT 18/Dec/18: added blocking screws for top and bottom. Added holes for basement fixing.
EDIT 20/Dec/18: compiled a custom marlin veion with servo control
EDIT 08/Ja19: added a 2DOF gripper (wrist for HS645MG)
EDIT 23/Ap19: wrist and gripper more rigid
EDIT 29/May/19: finally the endstops holder! by Olmo Ruffini
EDIT 26/March/20: Z endstop holder improved (new veion)
GT pulleys drawn by using a slightly modified veion of 'Parametric Pulley with multiple belt profiles' by droftarts January 2012
Gea for gripper are generated by using a library developed by Leemon Baird, 2011, Leemon@Leemon.com http:www.thingivee.com/thing:5505
https:youtu.be/0FFZ8miT0VEhttps:youtu.be/YSeXhJgEgbkhttps:youtu.be/pRjkzyHDR5E Pick and rotatehttps:youtu.be/Pmd2hQuCnKQ servo testhttps:youtu.be/m5fS1hvsXi0 gripper testhttps:youtu.be/bAA7MBBQvXQ
Masses (moto) were shifted. Two moto act as counterweights. The lifter motor was shifted closer to the basement.
The Opecad file is provided with a belt length calculator.
The STL model was optimized for belts of 336 and 260 mm.
Prototype easily lifts 1200 g and 500 g of payload, as it is visible in videos.
A parametric gripper was designed. The opecad file gives the max and min gripping widths with respect to user's paramete. It is fully customizable, also for the servo used.
See image for further information.
EDIT 18/Dec/18: added blocking screws for top and bottom. Added holes for basement fixing.
EDIT 20/Dec/18: compiled a custom marlin veion with servo control
EDIT 08/Ja19: added a 2DOF gripper (wrist for HS645MG)
EDIT 23/Ap19: wrist and gripper more rigid
EDIT 29/May/19: finally the endstops holder! by Olmo Ruffini
EDIT 26/March/20: Z endstop holder improved (new veion)
GT pulleys drawn by using a slightly modified veion of 'Parametric Pulley with multiple belt profiles' by droftarts January 2012
Gea for gripper are generated by using a library developed by Leemon Baird, 2011, Leemon@Leemon.com http:www.thingivee.com/thing:5505
https:youtu.be/0FFZ8miT0VEhttps:youtu.be/YSeXhJgEgbkhttps:youtu.be/pRjkzyHDR5E Pick and rotatehttps:youtu.be/Pmd2hQuCnKQ servo testhttps:youtu.be/m5fS1hvsXi0 gripper testhttps:youtu.be/bAA7MBBQvXQ
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