UR10 0,2 Scale Industrial Robot Arm

I made this model for testing its reach and capabilities in various production layouts. Thought maybe others could see some use in it as well, if nothing else then as a fun desktop toy.

Print orientation and supports:

I found organic tree supports to be the cleanest option. The following is my preference for achieving the best quality and detail, after a ton of testing.

• Print the joint parts with supports and with the cap surface facing down.
• Print the caps with supports and their tops facing upwards
• Print the base and bracket with supports and bottoms down
• Print the linkarms standing
• The rest can be printed without supports.

You need to print 2x large, 1x medium and 3x small TPU bushings. 

Along with 3x 14x14x17 and 3x 9x9x12 pins, with caps.

Joint Assembly:

• Place the sleeve on a flat surface, lip facing down.
• Insert the TPU bushing into the sleeve, with its recessed end facing up
• Insert the pin from the lip end
• Lock it with the pin cap from the recess end. (You may, or may not, need to use glue/solvent welding)
• Assemble the joint by inserting the sleeve assembly fully into the barreled part, and then pressing the squared end into its counterpart.

Repeat on all other joints

The base needs the square block solvent welded/glued into its bottom cutout. If you glue/weld it to the stand, or not, is up to you.

Enjoy.