Palletizing Robot Arm (3DOF, 50cm reach, 125g lift)

For more of my creations, please visit Marginally Clever.

This robot is currently in a contest and needs your support to win. Please upvote it!

Based ABB 460 Palletizing robot, this machine uses parallelograms to keep the finger tip level with the floor at all times. Three NEMA17 stepper motors move the arm. Limit switches help it find home position. In this first version I'm using 2x Adafruit Motor Shield v2 and an Arduino UNO for the brain, which I've taught to understand GCODE and Inverse Kinematics.

If you can't make the parts yourself, I can make you a set of parts.

I will be releasing bigger and better robot arms throughout the year and I'll do my best to keep them open source and open hardware. I want to do for robot arms what MakerBot has done for 3D printing, minus the controversy.

• More information.
• Download the source code
• Video writing "HELLO WORLD!"

Updates

2013-01-02: improved the design for ease of assembly and maintenance. Also mounted the circuit board to clean up the wire routing.

2015-12-15: Removed links to buy sets of parts. Not offering this particular kit any more.

2016-06-23: Added missing tendon.dxf

2016-12-14: updated with new link to assembly and programming instructions.

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Blog: http://marginallyclever.com/

Instagram: https://www.instagram.com/imakerobots

Facebook: https://www.facebook.com/MarginallyClever

Twitter: https://twitter.com/aggrav8d

Discord: https://discord.gg/Q5TZFmB

Print Settings

Printer Brand:

RepRap

Printer:

Prusa 2

Rafts:

No

Supports:

Yes

Resolution:

200um

Infill:

20%

Notes:

You'll have to clean out the 5mm holes, they print ~0.3mm too small on my printer.

Instructions

All DXF files are in centimeters. The STL are in millimeters.

bom.csv should list all the parts you need. I added column to show which items should be 3d printed, laser cut, or bought off the shelf. I can offer you a complete kit of parts if that's too complicated.

Bicep-a and the shoulder joint connectors (part 38 and 39) should be cut from 4.6mm thick material (commonly sold as 1/4" birch ply). All other DXF files can be cut from 1/8" birch or oak ply More information and the source code. Exploded diagrams and tips