The folks going to the Bay Area Maker Faire 2013 asked how the delta robot fans could find each other.

groups.google.com/forum/?fromgroups=#!topic/deltabot/U2fU_E9hAT0

Here's one way! A printable badge.
It would also be fun to mount to your robot.

Several STLs are included, "Deltas Do It Better" and "Delta Robot Fan" and "Viva La Delta".

The features are raised so it's easy to color with a sharpie.

It's a quick hack, but it's reasonably parameterized - you can adjust the angle of the "model", various model parameters, how much the lettering is raised, the text.

Thanks to thingiverse.com/thing:13347 for his font. There's probably a better to require a font dependency than including it - please let me know.

The insets are rendered in layers so the file could be modified such that multiple filament bot would also render it as layers.

Note: it's showing up in customizer but the text is disappearing. If anyone knows why this is please let me know. It may have something to do with the fact that the text is from an include file.

Still Just a concept.....

To be fitted to a Trigobot, modified Rostock delta printer.

Changed from johan design. Fitted for Rostock platform with correct center holes and j-head slip in.

Ready for testing

Changed to new motor due to difficulties to get the PG35L-048. This is for motor from 2engineers.com. Might also find this motor in china..... aliexpress or simmilar....

This is a linear delta 3D printer based on Johann's Rostock which has been enlarged to acomodate roughly double the print volume.

All of the 3D printed & laser cut parts have been made thanks to the Artilect Fablab Toulouse.

This is still work in progress so below you will find a blog like story of the build & set-up:

- 18/05/2013 Geting a bit better...
- Just made two more print reducing temperature & extruder feed and now it start to look as a cube. (see the picture)

- 17/05/13 First Print!!!
- After fighting without sucess to have Repetier working I guess I will need to get an atmega1284 to replace the 644 that came with the Gen7 but which lacks memory for Delta printers.
- I finnaly manage to get a 10uH self to replace the 100uH original one and got rid of the brown outs
- Over the week I had to transport the printer a few hundred kilometers by car and apparently it did notlike it as play started to appear on some components and notably the joints.
- Very late tonight I finally manage to attempt a first print: a 10mm cube, there was to much plastic feed and the hot end was too hot, so the result is not great see the picture and the video youtu.be/8jBBFH91Mn0.
- Still som work to do to hage high quality prints. Any way I'm very happy to be finnaly able to have a first print.

- 12/05/13 A bit frustrating
- I finnally managed to have the repeter firmware heating the hot end (the temperature measurement will need calibration)
- For some strange reason it needs to be on the bed sensor plug & not the extruder, I guess I'l need to go & see in the Pin layout of the firmware.
- But with repetier I do not manage to get the axis moving !
- So I have the axis moving on the Marlin & extruder heating on Repetier...

- 11/05/13 Trying to get it hot
- Assambled the hot end
- Assambled the extruder (Wade) initial plan was tu use it deported (Bowden) with a Teflon tube to link it to the hot end but I do not yer have the tube so it will be mounted directly on the platform. limiting speed & amplitude in the mean time.
- With a friend we assembled the hot end to the extruder and then tryed it on the board. We were quite disapointed to see that there was still a 0°C temperature reading. I just realosed now that on the 06/05 the quick fix that I used to stop the broun out problem disables the temperatures. and I could not yet purchace the termistance to definately correct the brownout problem.
- Therfore I tryed the Repetier-firmware with the lower memory settings & it seems to work. (it still needs to be configured properly for the rest.
- Tryed again the heater with the Repetier-Firmware and there it was displaying -55°C which felt strange as earlier we tested the thermistor resistance & it was around 114k Ohms.


- 10/05/13 Plenty of problems & some solutions:
- After all the problem described bellow it finaly made some first decent drawings see the video: youtu.be/04nmR4zaZQw
- Marlin Configuration Files & Test STL used for the drawings added to the downloadable files.
- Found the solution for the homming problems from yesturday Had to reduce Max speed in the firmware.
- Still one of the axis was not moving properly. At first I thought it was losing steps so I tried to increase the Driver's Current without sucess, I even switched the Drivers without results, to finnaly find that it was the pulley that was not tight enough.
- Once that was solved I went back to drawing experiments and for some reason the drawings were to small & the overal movements where shorter than expected, after verifying all the set-up of the firmware was more or less correct found one error on the DELTA_CARRIAGE_OFFSET which was 22 on the original rostock & now is 28.0mm but this did not solve the main problem. Therfore I started to measure the belt pitch which was 2.5mm as expected and I went to count the numbers of teeth and there I understood where the problem was comming from: The pulley which I thought was an 18teeth one was in fact a 16teeth one. Once this corrected in the firmware It gave much better results.
- Still some issues of steps lost from time to time
- Glonally it looks rather sensitive to the speed the 400 steps per revolution & the 16 teeth T2.5 pulley means that it is hitting the maximum steps/s limits of the arduino
- On top of that there is some issues of repetability of the starting height due to the endstops set-up which is not yet perfect
- With all this I did not get a chance to try again the Repeter Firmware.


- 09/05/13
- Installation of end-stops
- Start of calibration
- It made it's first drawings (It is not great for the time being)
- Some issues with homming: when moves comands are sent it moves correctely but when homming the steppers vibrates and nothing moves. I assume it is a error in my ste-up of the firmware, or too low current in the stepers drivers TBC.
- Had some feedback on the issue with Repetier forums.reprap.org/read.php?267,206320 which should come from an excess usage of memory so I will try to lower the memory useage as advised and I will let you know.

- 07/05/13 Platform fitted & moving
- Diagonal rods Cut from The carbon Arrows & glued to the Jaws
- Got some extra MDF to rigidify the structure at some later point
- Fitted Diagolal rods & Platform to the Printer
- Tried some movements: it is not perfectely flat yet nor rapid but it is going the right way. Here is a video of some of the first moves youtu.be/qAyjTx0MV_U
- The Z stepper seems a bit week I will need to adjust the power on the driver.

- 06/05/13 IT MOVES!!!
- Did not work on the structure today
- Temporarly gave-up on Repieter Firmware and moved to the modified Marlin by Johann
- Got Brown out issue on Marlin as described in the following thread github.com/ErikZalm/Marlin/issues/174 Got to change L1 on the Gen7 V1.4.1 as explained on the last post. I used the temporary fix from the first post as I do not require heating.
- Had to invert the Pinning of the steppers for them to turn on the correct direction
- For some strange reason the M80 comand needs to be entered manually
- Now all the three axis moves corectly on delta mode!

- 05/05/13 Now it looks like something
- Installed The belts & Steppers on each axis
- Assembled the Three Axes with the frame
- Still fighting with Repetier Firmware to make it work in delta mode

- 04/05/13 Start of the assembly
- The three columns of the printer are now complete
- All motors & endstops are properly wired & tested on cartesian mode
- Configured & uploaded the delta mode of Repetier but for some reason the stepers do not move in delta mode. Still need to beter understand config...

- 03/05/13 Back to the printer after a forced pause.
Today I have been playing with the Gen7 & the stepers:
- Ran the Test set-up with sucess
- Installed the repetier firmware 0.82.2 & tested with sucess the cartesian mode steppers turning ok.
- Started to set-up the delta mode of the repetier firmware but haven't had the time to test it today.

Enlarged version of Johann's Rostock adapted with the folowing features:
- 400x400x500mm expected build area
- 0.08mm theoretical vertical presision (400step/rev + 18 teeth T2.5 Pulley)
- Carriages with self tensioning & play elimination

It is just the begining... Almost everything is available now it is time to start building.












To be Continued

Enlarged Rostock Carriage from Jcrocholl modified to:
- Include a belt tensionning device
- Take 12x1000mm smooth rods and KB-12-WW Linear Bearings
- Should clip the bearings (tested)
- 0.10° bearing holder angles to compensate play
- Changed groove to improve fabricability
- T2.5 self locking belt mount based on belt_coupler_v6 from Okatake

Some slight updates for better printing of the belt coupler

WARNING DEPRECIATED: Replaced by thingiverse.com/thing:80425

Experience feedback on printed part:
- Bearing clips worked perfectly
- Bearing angles worked well no play! But 0.25° is to much and the carriage did not travel freely
- Belt mount did not print corectely

Enlarged Rostock Carriage from Jcrocholl modified to:
- Take 12x1000mm smooth rods and KB-12-WW Linear Bearings
- Should clip the bearings (Not yet tested)
- 0.25° bearing holder angles to compensate play
- Changed groove to improve fabricability
- T2.5 self locking belt mount based on belt_coupler_v6 from Okatake

DEPRECIATED: Replaced by thingiverse.com/thing:79147

I'm not convinced this is the best implementation but I want do build it rapidly so I went for limited change on the carriage.

Once the printer will be working I will try to spend some time on it to review the branch attachment to limit potential mouvments due to play in the bearings:
- Allignment of links to the center planes of the bearings booth vertically & horisontally
- Alignement of the belt mount to the center between the bearings
- M3 Screw based Bearing housings

Enlarged bed to try to get 400x400 print area

To be laser cut in MDF

Should work as well for top cover board with reduced thickness MDF

Part made @ Artilect FabLab Toulouse

- Added Stiffeners to prevent excessive loads when tightrning the pulley (I hesitated with the box but I guess this should be suficient )
- Remouved microswitch holder as the stifener surface should be sufficient
- Turned nuts 30° for better printing


Part made @ Artilect FabLab Toulouse

Enlarged Rostock Idler End for 12mm smooth rod

DEPRECIATED: now replaced by thingiverse.com/thing:73275

Rostock Motor End from Johann modified to take 12mm smooth rods
- Stronger diagonal fins
- Increased number of screws
- M4 center screw for feet installation
- Increased height to fit electronics below the base board


Part made @ Artilect FabLab Toulouse

I made some feet to space the Rostock printer a little higher so the Electronics and power supply had a bit more room and to aid airflow

Fits 40x40mm fans with 32mm hole spacing, works with the Kossel end effector with 6 holes only, 60* spacing.

Fan sticks down approximately 14mm from bottom of effector.

No rod interference on my Kossel taking extruder to all areas of an 8"x8" heated bed.

Kossel specs - 360mm frame extrusions and 288mm long rods

Edit: Added STL for the effector I use.

All my designs & progress available @ marginallyclever.com.
You can buy this kit @ bit.ly/136sgnY

Video: youtube.com/watch?v=okvIrxqSDBU

Scale model of a 4 armed delta robot, perfect for learning the basic math and programming challenges.

A delta 3D printer based off of the three vertical drive towers used on the Rostock printer. Designed for 1.75mm ABS.

All my designs & progress available @ marginallyclever.com.
You can buy this kit @ bit.ly/ZCeFUu

Video: youtube.com/v/7AchUoL9qdo

Scale model of a 3 armed delta robot, perfect for learning the basic math and programming challenges.

For mounting Ultibot Microstruder under the print platform. This extruder uses the PG35L Minbea geared stepper. In order to fit it onto the Rostock platform, I decided to mount the whole shebang below the platform. It weighs exactly 200g with the mounting screws, and after trimming the unused base mount part of the Ultibot extruder. thingiverse.com/thing:39098

I tried mounting above the platform, but either the extruder or the motor would hit the diagonal rods, constraining movement and/or "twanging" the deltabot.

What this thing does is mount to the mounting holes for the stepper opposite the extruder, giving somewhere to attach the assembly to the print platform. The "Under Extruder" block wraps around the motor, so long 3mmX40mm mounting screws, like the ones for the filament idler, are used.

I was going to modify the files for the Ultibot micro extruder, but the Alibre file was too complicated for my skillset. The nice thing about my solution, is that it may fit many other extruders using this same lightweight stepper, as the mount locations are set by the motor, and not the particular extruder you want to use.

This is a drop in replacement for the circular throat disk that sits in the bandsaw table.

An experimental two-high spring dampened reversing roller cold end for a Bowden cable system. Uses modified Tetrix spur gears and axle hardware. Filament enters and exits on a 30 degree angle to assist in better hose curvature. Uses spring dampening system to allow deviations in the 3mm plastic filament diameter with an adjustable bottom out feature for decreased potential slippage. No bearings or moving plastic componentry.

As I worked through the assembly of the Kossel ( reprap.org/wiki/Kossel ), an OpenBeam based Delta style printer, I decided to build it with dual extruders/hotends and wanted to use the M5 PushFit connectors available from Amazon or TriDPrinting ( tridprinting.com/Hot-Ends/#3D-Printer-Push-Fit-Fitting )

This part allows the J-Head to snap into place and fits within and will bolt right on the current effector/platform for the Kossel and Rostock.

Updated SCAD file to better fit the inside circle of the Rostock effector.

Update: V2 of SCAD file corrects the misalignment of the single J-head on the insert vs the plate.

Arguably the most interesting, but certainly the most controversial race car design in years. A clean-sheet design that keeps pace with traditional racecars without using wings, a big engine, or even the usual rectangular footprint. Ben Bowlby explains it better than I can: youtu.be/c_INdbXMqsw?t=6m37s

Metzench designed an open 16mm saddle carriage for the Igus RJM-01-08 plastic linear bearing. The Igus bearings require a 16mm bushing to "squeeze" the ribbed bearing to 8mm tolerance. I modified the SCAD from Johann's original Rostock carriage to have a 16mm enclosed sleeve for holding the bearing.

I should add that I am currently building a Johann's Rostock with 8mm rods, and hope to use these simple and cheap bearings instead of the loud and expensive metal ones. We'll see how it goes.

UPDATED : 19 November 2012 : Johann has merged the corrections into his master branch, so you can use those now!

Johann's latest masterpiece, the Kossel Delta, had some teethining pains when I tried to assemble it. Here are some modifications to the parts that were creating the problems!

A slightly smaller, sleeker, more portable and more desktop friendly version of Johann's Rostock Delta 3D Printer. Key improvements have been made to the parametric nature of the design files with a laser cut frame generated by the SCAD file to accomodate the desired print bed dimensions. Also there's a new extruder design to go along with that will be published soon.

For more details, build notes, and other information visit the RepRap wiki at: reprap.org/wiki/Rostock_mini

More to come in the next few weeks.

Update 11.11.12: It's printing but there are still some problems with the bowden extruder I designed because of weak-sauce push-fit pneumatic fittings. Am redesigning to use a better tube setup. Once verified in the next couple of weeks I'll be posting more details and the extruder as a separate design.

Update 12.09.12: New Bowden design is complete but hasn't been working as well as it should. Still needs more testing.

Update 12.16.12: Updated v2 files for hotend_v2.stl and the still experimental extruder.stl with OpenSCAD source files in source_v2.zip. These changes get rid of the unreliable pneumatic push-fit fittings and replace with 4mm OD PTFE tubing, McMaster p/n 52335K32, and M4 nuts threaded on each end (one in the hotend and another in the extruder).

Just in time to show off your manly pectorals, comes the Khan Necklace. No need to search 'round the moons of Nibia and 'round the Antares Maelstrom and 'round Perdition's flames any longer! Unleash your wrath by wearing it, and make all your nerdy friends jealous. Then print them their own since you're actually super nice.

By request i redesigned my popular Klein Bottle: thingiverse.com/thing:22734 to fit the build area of the amazing Rostock Delta 3D Printer: 20cmx20cmx40cm !

As you know upscaling a model creates thicker walls which is inefficient in terms of material usage and 3d printing time..

youtube.com/watch?v=GHIRyVwG7PQ


So i redesigned it from scratch with a 4~8mm wall thickness and Size: 199x180x395mm


** Update: I've uploaded a low poly version and with flat base.

Yet Another Ramps Box.

This is a derivative of two people's boxes:

jman's -
thingiverse.com/thing:13979

and

oTTo's - thingiverse.com/thing:21389

My RAMPS 1.4 board came from a vendor who had some different connectors. So, in making a box to fit my setup I added some RepRap features to show the World that what is hidden inside IS COOL!

My first print is kinda junky (embarrassing) but, I'm too anxious to show it off. I've made adjustments since my first print for the 50mm fan bolts to be recessed and the small RepRap vent openings should be fine but, printable.

The design was done with Sketchup.

9/23/2012 - Wired up the new Rostock and the YARB can hold all the wiring for one extruder w/hot build platform and room to spare. Sort of....

After a long lead up, this is the PolyBot Raspberry Edition. Reduced production cost, increased accuracy.

This thing is a bunch of modifications to the first PolyBot design from 4 months back. I wanted it to be my 100th design, and so it is.

The essential design remains the same, it is a delta robot housed in a tetrahedron frame. I have experimented with many tetrahedron frames over the past few months. The one presented here is based on the vinyl tubing vertices: thingiverse.com/thing:8306

There is heavy usage of zip ties as well. These have proven to be as strong as any other fasteners, and you simply can't beat the ease of use, or price.

It also uses the modified servo mounts, and improved male/female clevis pieces. The way the pieces are designed, there is very little wiggling around, so the arms are fairly rigid in their motions.

I have included all the plastic pieces here in one place for easy download/print.

I have also uploaded a massive collection of photos, and even a rudimentary instruction manual. If you look carefully, you'll notice the Arduino Sketch in the 'code' directory (wiidemo). There is also an 'Alternates' directory which contains various other odds and ends like a different effector base, options for vertices (using ball/socket if you prefer).

I have had my wife build this thing a couple of times now, and it goes together in a couple of hours, once you have your plastic parts printed.

Also of note, there are tighter tolerances on parts this time around. I've used nice steel pins for axles, and brass sleeve bushings in places for 1/4" steel pins to rotate. Nice and smooth! Although everything is pressure fit, and stays in place nicely, I've used some nuts and screws on the servo mounts to make them extra sticky.

Just a lot of little improvements here and there. The instruction manual is actually for a socket/ball joint based frame, but for the most part it will apply to any tetrahedron you choose.

Enough words... On to the files.

UPDATE: Some blog posting to go with it...
williamaadams.wordpress.com/2011/06/14/yazzo-polybot-raspberry-edition-take-one/

This is a Derivative of the original Yazzo PolyBot by WilliamAAdams. I found the original design to be something I wanted to build and test with immediately. So I found some things I wanted to do differently and wanted other people to experiment with this awesome robot.

UPDATE: The Female and Male Clevis Elbows I had uploaded here are the wrong size. I no longer have the proper size on my computer. Please follow these links to get them:

thingiverse.com/thing:8130
thingiverse.com/thing:8129

On the original Polybot the files were spread around Thingiverse and were very hard to find, I have consolidated them into one spot.

I have also changed the threaded rod connectors of the Tetrahedron support structure. These new ones should be much easier to print and will print without support. They should also be much sturdier.

I have also changed the servo brackets to make them much easier to mount the servos. You no longer have to take apart your servos and struggle with getting them back together in order to mount them. The servos also sit out further off the platform. With the original design, the servos sat too far in on the platform making it impossible to get a good range of motion for the servo arms.

One of the negatives of these new designs is the need for fasteners. The original PolyBot was designed to use as few fasteners as possible. This one can be edited to make the holes smaller on the printed parts for the threaded rod to fit snugly into without the use of nuts. I prefer to use nuts because it makes assembly so much easier. Nuts are pretty inexpensive too and you are probably going to be in the hardware store anyway for the threaded rod.

Currently, I am using standard Medium Hobby Servos to move the arms. For now they work really well and easily move the lightweight arms of this bot.

As for the micro-controller, I am using a Picaxe 28X/40X. But you can use whatever you like.

If you find this bot to be interesting, I seriously recommend printing and building it. It is pretty cheap to build and doesn't take much time. It is a lot of fun to mess around with. As for improvements, I already have a bunch of ideas in mind. And I know WilliamAAdams is working on improvements for the original Cranberry Yazzo Polybot, hopefully he will release something soon!

Here is a video of it moving... I should have gotten it to do something more interesting. But I have to go to work in the morning and I spent the night preparing the files and doing this write-up. Kind of lame, more and better video soon! I promise!

flickr.com/photos/58101887@N02/5587175033/

Another update... I couldn't leave it for the night with just that crappy first video. So I programmed some numbers that might make the bot look like it is moving semi-coherently.

So here is a better video of Delta Robot Movement:

youtube.com/watch?v=fWZOHDWu0EM

This OpenSCAD model is a demonstration for the work area of thingiverse.com/thing:7069

The script has some more parameters to enable experiments.

Inspired by thingiverse.com/thing:5998 .

Unfortunately, can not be made as-is. Hence the work-in-progress...

This is an OpenSCAD design suitable for experimenting with a deltabot with various arm lengths. The main parameters (base width, arm length, animation toolpath etc) can be changed on the fly.

It serves me as a test of both the coordinate transformation math and the resulting practical reach for a given arm configuration.

Parts of it can be reused in other designs, for example the 3d line and toolpath rendering.